Improving the performance of parallel robots by applying distinct hybrid control techniques

摘要

During the last two decades, parallel robots have become more ubiquitous, employed in a great variety of sectors, from food to aerospace industries. In fact, they are much more efficient than their serial counterparts in terms of performing fast motions and consuming less energy. However, due to their mechanical complexity, they present a highly complex non-linear dynamics, which makes the modelling and control tasks difficult. Aiming to improve the performance and robustness of the control laws already used to control this type of mechanisms, this paper proposes two hybrid control techniques. The first hybrid control is derived from the combination of a pure PD control with a modified Sliding Mode control. The second hybrid control, in its turn, combines a pure Computed Torque with the altered Sliding Mode control. The proposed modifications in the Sliding Mode control aim to achieve a considerable reduction of the tracking errors and chattering. A stability analysis of the proposed control techniques and an experimental validation are carried out, comparing the performance of the pure and hybrid control laws in a 5R parallel mechanism. Moreover, simulations are also conducted to evaluate the behaviour of a 3-dof spatial parallel robot, when performing a 3D-path. Analysing the simulations and the experimental results, it is possible to observe a significant reduction of the path tracking and steady-state errors in both hybrid control strategies.