Design and Control Strategy of a Low-Cost Parallel Robot for Precise Solar Tracking

被引：2

作者：

Diaz, Arturo ^{[1
]}

Keshtkar, Sajjad ^{[2
,3
]}

Moreno, Jaime A. ^{[3
]}

Hernandez, Eusebio ^{[4
]}

机构：

[1] Ctr Invest Opt, Guanajuato, Mexico

[2] Tecnol Monterrey, Sch Engn, Altamira 89600, Mexico

[3] Univ Nacl Autonoma Mexico, Inst Ingn, Mexico City 04510, DF, Mexico

[4] Inst Politecn Nacl, ESIME Ticoman, Mexico City 07340, DF, Mexico

来源：

ADVANCES IN SERVICE AND INDUSTRIAL ROBOTICS, RAAD 2018 | 2019年 / 67卷

基金：

芬兰科学院;

关键词：

Parallel robot; Solar tracker; Sliding mode control; ORIENTATION; ROBUST;

D O I：

10.1007/978-3-030-00232-9_36

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

This paper presents the design of a new 2 degrees of freedom parallel manipulator and its theoretical implementation as a precise solar tracker. The cinematic mathematical model of the mechanism is studied in detail and a robust control algorithm based on sliding mode control is introduced to perform the desired angular positions and velocities in the presence of disturbances/uncertainties. The numerical simulations are carried out to verify the behavior of the suggested controller.

引用

页码：342 / 350

页数：9

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