ناشر تخصصی کنفرانس های ایران

لطفا کمی صبر نمایید

Publisher of Iranian Journals and Conference Proceedings

Please waite ..
Publisher of Iranian Journals and Conference Proceedings
Login |Register |Help |عضویت کتابخانه ها
Paper
Title

Position control of six-DOF Stewart mechanism using the sliding mode control

Year: 1396
COI: ICELE02_387
Language: EnglishView: 297
This Paper With 15 Page And PDF Format Ready To Download

Buy and Download

با استفاده از پرداخت اینترنتی بسیار سریع و ساده می توانید اصل این Paper را که دارای 15 صفحه است به صورت فایل PDF در اختیار داشته باشید.
آدرس ایمیل خود را در کادر زیر وارد نمایید:

Authors

Soheil Sheikh Ahmadi - Mechatronics Research Laboratory, School of Engineering Emerging Technologies, University of Tabriz, Iran
Arash Rahmani - Faculty of Mechanical Engineering, Urmia University of Technology, Iran.

Abstract:

In this paper, we investigated the sliding mode controller for six degrees of freedom (6-DOF) Stewart mechanism. The design of mechanical systems in order to move loads precisely and with high accuracy is of the most important subjects in robotics. Nowadays, the use of skilled robotic arms has a many different applications, however in all the applications there are important tips in the designing including simple structure, optimized energy consumption, obtaining high speed and acceleration for the final executer, simple implementation of controlling law, and the ability of system to following the path in the future, adequately. In the current paper, kinematic, dynamic, and controlling a parallel mechanism based on Stewart platform, have been investigated. For the dynamic of Stewart robot, the method of virtual work principle is used, which is more accurate and has less computational volume compared to the other methods. The sliding mode control is a nonlinear controlling method, which ensures the control strategy against uncertainties. In this method, stabilities are achieved by keeping the system states on the sliding surface. Results of the simulation are also indicating that this controller is able to maintain its stability against uncertainties, perfectly, and the final executer follows the final path as well.

Keywords:

Stewart Mechanism , Sliding Mode Control , the Principle of Virtual Work , Chattering

Paper COI Code

This Paper COI Code is ICELE02_387. Also You can use the following address to link to this article. This link is permanent and is used as an article registration confirmation in the Civilica reference:

https://civilica.com/doc/698668/

How to Cite to This Paper:

If you want to refer to this Paper in your research work, you can simply use the following phrase in the resources section:
Sheikh Ahmadi, Soheil and Rahmani, Arash,1396,Position control of six-DOF Stewart mechanism using the sliding mode control,2nd International Conference on Electrical Engineering,Qarchak,https://civilica.com/doc/698668

Research Info Management

Certificate | Report | من نویسنده این مقاله هستم

اطلاعات استنادی این Paper را به نرم افزارهای مدیریت اطلاعات علمی و استنادی ارسال نمایید و در تحقیقات خود از آن استفاده نمایید.

Scientometrics

The specifications of the publisher center of this Paper are as follows:
Type of center: دانشگاه دولتی
Paper count: 22,035
In the scientometrics section of CIVILICA, you can see the scientific ranking of the Iranian academic and research centers based on the statistics of indexed articles.

New Papers

Share this page

More information about COI

COI stands for "CIVILICA Object Identifier". COI is the unique code assigned to articles of Iranian conferences and journals when indexing on the CIVILICA citation database.

The COI is the national code of documents indexed in CIVILICA and is a unique and permanent code. it can always be cited and tracked and assumed as registration confirmation ID.

Support