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.
Trajectory Tracking by Fuzzy-Based Super-Twist Sliding Mode Control of a Parallel PnP Robot
Springer Proceedings in Advanced Robotics
International Symposium on Advances in Robot Kinematics ; 2022 ; Bilbao, Spain June 26, 2022 - June 30, 2022
2022-06-18
8 pages
Article/Chapter (Book)
Electronic Resource
English
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