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This paper focuses on the designing of a stable model-based fuzzy controller for a six degrees of freedom (DOF) parallel manipulator with rotary actuators. This type of parallel manipulator has a challenging dynamics to control. Based on the nonlinear dynamical model of the system a Takagi-Sugeno fuzzy model of the system is presented through a combination(More)
A novel six-DOF parallel manipulator is introduced. Kinematics analysis is discussed and using Lagrange equations for constrained systems the full dynamic modeling is performed. Sliding mode control as a class of very special nonlinear control is proposed to control the position of the manipulator in the presence of parametric uncertainties. Stability of(More)
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