Robust Control of Hybrid Robot

Abstract

This paper presented a 3-dof(degree-of-freedom) hybrid robotic manipulator, which was constructed by combining a parallel mechanism and a pantograph. To reduce the effects of load and system parameter variances on the response capability of the system, a kind of robust controller based on Lyapunov schemes was proposed for the 3-dof hybrid robot manipulator and the robust controller′s guarante for practical stability was proved. Theoretical analyses and simulation results showed that this controller can significantly improve the robot tracking performance.