Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 30835
Designing a Robust Controller for a 6 Linkage Robot

Authors: G. Khamooshian


One of the main points of application of the mechanisms of the series and parallel is the subject of managing them. The control of this mechanism and similar mechanisms is one that has always been the intention of the scholars. On the other hand, modeling the behavior of the system is difficult due to the large number of its parameters, and it leads to complex equations that are difficult to solve and eventually difficult to control. In this paper, a six-linkage robot has been presented that could be used in different areas such as medical robots. Using these robots needs a robust control. In this paper, the system equations are first found, and then the system conversion function is written. A new controller has been designed for this robot which could be used in other parallel robots and could be very useful. Parallel robots are so important in robotics because of their stability, so methods for control of them are important and the robust controller, especially in parallel robots, makes a sense.

Keywords: Control, parallel robot

Digital Object Identifier (DOI):

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 316


[1] Staicu, Stefan. Dynamics of a 3-RRR Spherical Parallel Mechanism Based on Principle of Virtual Powers. A A, 10, 10.
[2] Chablat, Damien, & Wenger, Philippe. (2007). The kinematic analysis of a symmetrical three-degree-of-freedom planar parallel manipulator. arXiv preprint arXiv:0705.0959.
[3] Küçük, Serdar. (2012). Inverse Dynamics of RRR Fully Planar Parallel Manipulator Using DH Method: INTECH Open Access Publisher.
[4] Kamali, Kaveh, & Akbarzadeh, A. (2011). A novel method for direct kinematics solution of fully parallel manipulators using basic regions theory. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 225(5), 683-701.
[5] Yu, Yue-Qing, Du, Zhao-Cai, Yang, Jian-Xin, & Li, Yuan. (2011). An experimental study on the dynamics of a 3-RRR flexible parallel robot. Robotics, IEEE Transactions on, 27(5), 992-997.
[6] Noshadi, A, & Mailah, M. (2012). Active disturbance rejection control of a parallel manipulator with self learning algorithm for a pulsating trajectory tracking task. Scientia Iranica, 19(1), 132-141.
[7] Zhang, Qinghua, Zhang, Xianmin, & Liang, Jinglun. (2012). Dynamic analysis of planar 3-RRR flexible parallel robot. Paper presented at the Robotics and Biomimetics (ROBIO), 2012 IEEE International Conference on.
[8] Zhang, Qinghua, Fan, Xuerui, & Zhang, Xianmin. (2014). Dynamic Analysis of Planar 3-RRR Flexible Parallel Robots with Dynamic Stiffening. Shock and Vibration, 2014.
[9] Zhang, Xuchong, Zhang, Xianmin, & Chen, Zhong. (2014). Dynamic analysis of a 3-RRR parallel mechanism with multiple clearance joints. Mechanism and Machine Theory, 78, 105-115.
[10] Moshaii, Alireza Abbasi, Masouleh, Mehdi Tale, Zarezadeh, Esmail, & Farajzadeh, Kamran. Two Spherical Three Degrees of Freedom Parallel Robots 3-RCC and 3-RRS Static Analysis, World Academy of Science, Engineering and Technology Online Publication, Vol. 9, No. 6, 2015.
[11] Rahmanian, Sasan, & Ghazavi, Mohammad Reza. (2015). Bifurcation in planar slider–crank mechanism with revolute clearance joint. Mechanism and Machine Theory, 91, 86-101.
[12] Singh, Yogesh, & Santhakumar, M. (2015). Inverse dynamics and robust sliding mode control of a planar parallel (2-PRP and 1-PPR) robot augmented with a nonlinear disturbance observer. Mechanism and Machine Theory, 92, 29-50.
[13] Singh, Yogesh, Vinoth, V, Kiran, Y Ravi, Mohanta, Jayant Kumar, & Mohan, Santhakumar. (2015). Inverse dynamics and control of a 3-DOF planar parallel (U-shaped 3-PPR) manipulator. Robotics and Computer-Integrated Manufacturing, 34, 164-179.