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  • Open Access


    Non-Negative Adaptive Mechanism-Based Sliding Mode Control for Parallel Manipulators with Uncertainties

    Van-Truong Nguyen*

    CMC-Computers, Materials & Continua, Vol.74, No.2, pp. 2771-2787, 2023, DOI:10.32604/cmc.2023.033460

    Abstract In this paper, a non-negative adaptive mechanism based on an adaptive nonsingular fast terminal sliding mode control strategy is proposed to have finite time and high-speed trajectory tracking for parallel manipulators with the existence of unknown bounded complex uncertainties and external disturbances. The proposed approach is a hybrid scheme of the online non-negative adaptive mechanism, tracking differentiator, and nonsingular fast terminal sliding mode control (NFTSMC). Based on the online non-negative adaptive mechanism, the proposed control can remove the assumption that the uncertainties and disturbances must be bounded for the NFTSMC controllers. The proposed controller has More >

  • Open Access


    Kinematic Calibration of a Parallel Manipulator for a Semi-physical Simulation System

    Dayong Yu

    Intelligent Automation & Soft Computing, Vol.24, No.3, pp. 571-580, 2018, DOI:10.31209/2018.100000024

    Abstract In the application of a semi-physical simulation system of a space docking mechanism, the simulation precision is determined by pose accuracy of the parallel manipulator. In order to improve pose accuracy, an effective kinematic calibration method is presented to enable the full set of kinematic parameter errors to be estimated by measuring the docking mechanism’s poses. A new calibration model that takes into account geometrical parameter errors and coordinates transformation errors is derived by using a differential geometry method. Based on the calibration model, an iterative least square algorithm is utilized to calculate the above More >

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