Title :
A sliding mode control of robot manipulator with variable payload
Author :
Yang, Dongyong ; Yamane, Yuzo ; Zhang, Xiaojun ; Zhu, Rongyan
Author_Institution :
Dept. of Comput. Eng., Zhejiang Univ. of Technol., Hangzhou, China
Abstract :
A sliding mode control based on motor angular speed control has been presented for a robot manipulator grasping a payload with mass variation. In order to guarantee the continuity of the control signals applied to the actuators of the robot manipulator, a sliding mode control with integral compensation is adopted. Improvement of robustness of the control system against payload mass variation is obtained by introducing a sliding mode feedforward signal. The control scheme is applied to a three joint robot manipulator, control performance both with payload torque compensation and without payload torque compensation are investigated. Simulation results show that the control scheme presented, is robust against payload mass variation and has satisfactory control performance
Keywords :
angular velocity control; electric actuators; manipulators; torque control; variable structure systems; actuators; control performance; control scheme; control signals; control system; integral compensation; mass variation; motor angular speed control; payload mass variation; payload torque compensation; robot manipulator; robustness; sliding mode control; sliding mode feedforward signal; three joint robot manipulator; variable payload; Actuators; Control systems; Manipulators; Payloads; Robots; Robust control; Sliding mode control; Torque control; Velocity control; Weight control;
Conference_Titel :
Intelligent Processing Systems, 1997. ICIPS '97. 1997 IEEE International Conference on
Conference_Location :
Beijing
Print_ISBN :
0-7803-4253-4
DOI :
10.1109/ICIPS.1997.669210
