A SINGULAR PERTURBATION APPROACH FOR TRACKING CONTROL OF A PARALLEL ROBOT INCLUDING MOTOR DYNAMICS

The tracking control problem of a parallel robot, including the electr ical actuator dynamics, is addressed. The inverse dynamic model of the mechanical part is obtained using Lagrange and the geometric properti es of the robot. For electrically actuated robots we design a nonlinea r control law in the armatures' input voltages. The model obtained is in a standard form that allows the application of the singular perturb ation method. To validate the proposed corrective controller, the pass icity concept and the singular perturbation techniques are used. Compu ter simulations are performed on the model of a real electrically driv en six degrees-of-freedom parallel robot where the friction model is i ncorporated. The results show the robustness of the proposed controlle r with a good trajectory tracking performance.