This paper presents trajectory tracking control of a fast parallel robot for pick-and-place operations. Aiming at high tracking accuracy of the robot end-effector, fuzzy-based super-twist sliding mode control is designed and is evaluated by observing the joint dynamics, in comparison with the classical computed torque control and among others. The experimental results and comparison show the effectiveness of the developed control scheme, for fast parallel pick-and-place robots. The main contribution of this work is reflected in the integrated fuzzy algorithm and second-order sliding mode control for the model-based control design, with acceptable computational burden and trajectory tracking precision.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Trajectory Tracking by Fuzzy-Based Super-Twist Sliding Mode Control of a Parallel PnP Robot


    Weitere Titelangaben:

    Springer Proceedings in Advanced Robotics


    Beteiligte:
    Altuzarra, Oscar (Herausgeber:in) / Kecskeméthy, Andrés (Herausgeber:in) / Wu, Guanglei (Autor:in) / Cui, Chuangchuang (Autor:in) / Shen, Huiping (Autor:in)

    Kongress:

    International Symposium on Advances in Robot Kinematics ; 2022 ; Bilbao, Spain June 26, 2022 - June 30, 2022



    Erscheinungsdatum :

    18.06.2022


    Format / Umfang :

    8 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Trajectory Tracking by Fuzzy-Based Super-Twist Sliding Mode Control of a Parallel PnP Robot

    Wu, Guanglei / Cui, Chuangchuang / Shen, Huiping | TIBKAT | 2022


    Robust Attitude Tracking Control of Quadrotor UAV Based on Adaptive Super-Twist Sliding Mode Method

    Wu, Yinghua / Zhang, Ancai / Liang, Xiao et al. | Springer Verlag | 2025


    Robust Adaptive Trajectory Tracking Sliding Mode Control for Industrial Robot Manipulator using Fuzzy Neural Network

    Xuan, Quynh Nguyen / Cong, Cuong Nguyen / Ba, Nghien Nguyen | BASE | 2024

    Freier Zugriff

    Research on port AGV trajectory tracking control based on improved fuzzy sliding mode control

    Qiu Jiandong / Tang Minan / Yu Fan et al. | DOAJ | 2024

    Freier Zugriff