SLIDING MODE CONTROL OF 3-RPR PARALLEL ROBOT ON THE OPTIMAL PATH USING CUCKOO OPTIMIZATION ALGORITHM

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MOEZI SEYED ALIREZA; RAFEEYAN MANSOUR; EBRAHIMI SAEED

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Journal: Modares Mechanical Engineering Year:2015 | Volume:15 | Issue:2 Page(s): 147-158

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Title

SLIDING MODE CONTROL OF 3-RPR PARALLEL ROBOT ON THE OPTIMAL PATH USING CUCKOO OPTIMIZATION ALGORITHM

Author(s)

MOEZI SEYED ALIREZA | RAFEEYAN MANSOUR | EBRAHIMI SAEED | Issue Writer Certificate

Keywords

THREE DEGREES OF FREEDOM ROBOTQ2

PATH GENERATINGQ2

CUCKOO OPTIMIZATION ALGORITHMQ1

GENETIC OPTIMIZATION ALGORITHMQ2

SLIDING MODE CONTROLQ1

SPLINE CURVEQ2

Abstract

The present study aims to implement an approach for trajectory control of a 3-RPR parallel manipulator over a path with obstacles in the workspace. For this purpose, using the SPLINE CURVEs approach and based on the CUCKOO OPTIMIZATION ALGORITHM, a smooth reference trajectory with minimum length is generated in the workspace to avoid robot collision with obstacles. The performance and accuracy of the CUCKOO OPTIMIZATION ALGORITHM in converging to the optimal solution is then compared with the Genetic algorithm. In the next step, the robust SLIDING MODE CONTROL technique is adopted for trajectory control of the robot in the presence of some uncertainties. These uncertainties usually include the lengths and mass of the robot’s links. The obtained results confirm the demanded level of performance and accuracy of the CUCKOO OPTIMIZATION ALGORITHM. It is also observed that the optimal trajectory with minimum length is generated using the SPLINE CURVEs approach. In addition, it is concluded that based on the SLIDING MODE CONTROL technique, the robot can follow the desired trajectory very precisely in spite of the presence of the uncertainties in length and mass of the robot's links.

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APA: Copy

MOEZI, SEYED ALIREZA, RAFEEYAN, MANSOUR, & EBRAHIMI, SAEED. (2015). SLIDING MODE CONTROL OF 3-RPR PARALLEL ROBOT ON THE OPTIMAL PATH USING CUCKOO OPTIMIZATION ALGORITHM. MODARES MECHANICAL ENGINEERING, 15(2), 147-158. SID. https://sid.ir/paper/179729/en

Vancouver: Copy

MOEZI SEYED ALIREZA, RAFEEYAN MANSOUR, EBRAHIMI SAEED. SLIDING MODE CONTROL OF 3-RPR PARALLEL ROBOT ON THE OPTIMAL PATH USING CUCKOO OPTIMIZATION ALGORITHM. MODARES MECHANICAL ENGINEERING[Internet]. 2015;15(2):147-158. Available from: https://sid.ir/paper/179729/en

IEEE: Copy

SEYED ALIREZA MOEZI, MANSOUR RAFEEYAN, and SAEED EBRAHIMI, “SLIDING MODE CONTROL OF 3-RPR PARALLEL ROBOT ON THE OPTIMAL PATH USING CUCKOO OPTIMIZATION ALGORITHM,” MODARES MECHANICAL ENGINEERING, vol. 15, no. 2, pp. 147–158, 2015, [Online]. Available: https://sid.ir/paper/179729/en

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