Robust sliding mode control of redundantly actuated parallel mechanisms with respect to geometric imperfections

DOI10.1007/s11044-015-9481-8zbMath1369.70018OpenAlexW2188551720MaRDI QIDQ2629331

Michael Valášek, Zbyněk Šika, F. Procházka

Publication date: 6 July 2016

Published in: Multibody System Dynamics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s11044-015-9481-8

zbMATH Keywords

sliding mode controlmodel uncertaintiesparallel kinematicsredundant actuationantibacklash controlfiber-driven mechanism

Mathematics Subject Classification ID

Variable structure systems (93B12) Robot dynamics and control of rigid bodies (70E60)

Related Items (1)

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Cites Work

• Unnamed Item
• A chattering-free sliding mode control design for uncertain chaotic systems
• Identification and classification of the singular configurations of mechanisms.
• Study of the antagonistic stiffness of parallel manipulators with actuation redundancy
• Generation and application of prestress in redundantly full-actuated parallel manipulators
• Sliding mode control of a class of underactuated systems
• Satellite attitude control via sliding mode with perturbation estimation
• Evaluation of dynamic capabilities of machines and robots

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