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Applying distributed control strategy, a discrete sliding mode controller (DSMC) with fuzzy adaptive reaching law is proposed to tracking the trajectory of 6-PRRS parallel robot. The detailed design procedure of the DSMC system with fuzzy adaptive reaching law is presented. The disturbances prediction, which guarantees the stability of the control system, is developed In order to attenuate the chattering...
Three types of singularities have been analyzed for a 6-PRRS parallel robot in this paper, i.e., the forward, inverse, and combined singularity. Conventional analysis method of a parallel robot is based on the whole Jacobian matrix, so it needs complex process and computation. The singularity analysis in this paper focuses on the geometrical character of one motion chain, and every chain is processed...
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