Gao Guoqin

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For a novel 3-PRRR/PPRR redundantly actuated parallel mechanism, the dynamic modeling and sliding mode control are presented. Firstly, the kinematic analysis of the parallel mechanism is completed and the dynamic model of the parallel mechanism is established by the Lagrange formulation. In order to improve the computation efficiency of the model and thus(More)
This paper addresses a sliding mode control scheme based on weighted integral gain reaching for a novel 3-DOF redundantly actuated parallel mechanism to implement accuracy motion tracking control. The sliding control scheme is designed with consideration of varying uncertain parameters and external disturbances to guarantee system robustness. Using Lyapunov(More)
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