ROMANSY 11 pp 45-52 | Cite as

Nonlinear Control of a Parallel Robot Including Motor Dynamics

  • L. Beji
  • A. Abichou
  • P. Joli
  • M. Pascal
Part of the International Centre for Mechanical Sciences book series (CISM, volume 381)


The tracking control problem of a parallel robot including the electrical actuator dynamics is addressed in this paper. For the electrically actuated robots we design a nonlinear control law in armatures’ input voltages. The model obtained is in standard form to allow the application of the singular perturbation method. To validate the proposed corrective controller, the passivity concept and singular perturbation techniques are considered. Simulation tests are presented that confirm the efficiency of the proposed nonlinear control law.


Singular Perturbation Trajectory Tracking Parallel Robot Singular Perturbation Method Tracking Control Problem 
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Copyright information

© Springer-Verlag Wien 1997

Authors and Affiliations

  • L. Beji
    • 1
  • A. Abichou
    • 2
  • P. Joli
    • 1
  • M. Pascal
    • 1
  1. 1.CEMIFEvryFrance
  2. 2.INATCité Mahrajène, TunisTunisia

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