Robust PD control of 6DOF redundant parallel manipulator in the presence of disturbance and friction

In this paper, a robust PD controller is designed for a 6DOF redundant parallel manipulator, while friction effects are considered in the dynamic equations of manipulator. Instead of using angular velocity feedback, a second order sliding mode observer is used in order to design the controller. In the end, performance of manipulator in tracking a desired path is analyzed in the presence of disturbance and the disturbance rejection property of the proposed controller is verified

Keywords:

redundant parallel manipulator , friction effects , robust PD controller , second order sliding mode observer , disturbance rejection