Sliding Mode Control of a parallel robot with three degrees of freedom to perform naval maintenance activities

Abstract

Robotics has experienced a great evolution due to technological advances. One of its fields of study and development is the control of its movements. This research work is an important part for the contribution and industrial technological development and proposes the control of a parallel portable robot with three degrees of freedom to perform the task of metal shaping at sea using heat lines "Line Heating", so decrease process costs and service times. The Robot must comply with the high performance requirements imposed by the task; a robust controller against external disturbances. Sliding mode control SMC "Sliding Mode Control" is implemented for positioning the tool in a parallel robot, RPS (Revolute-Prismatic-Spherical) type. The control method requires the use of system dynamics and its solution in real-time. This work presents, the dynamics that model the behavior of the system, performed by the Virtual Works method that provides less computational time, compared to usual dynamic formulations, due to more compact equations and the lower number of arithmetic operations.