DocumentCode :
2960736
Title :
Adaptive sliding-mode hybrid force/position controller for flexible joint robot
Author :
Farooq, M. ; Wang, Dao Bo ; Dar, N.U.
Author_Institution :
Coll. of Auomation Eng., Nanjing Univ. of Aeronaut. & Asronautics, Nanjing
fYear :
2008
fDate :
5-8 Aug. 2008
Firstpage :
724
Lastpage :
731
Abstract :
A novel adaptive sliding mode control design is developed for trajectory tracking of a class of flexible robots in this paper. This control design uses a force/position controller for robots with flexible joints where the friction between the end effector and the environment is taken into account. For systematic reasons the controller is designed considering the rigid links subsystem and the flexible joints. The proposed control system, satisfies the stability of the two subsystems and cope with the uncertainty of the robot dynamics. Finally simulation results are given to demonstrate the effectiveness of the proposed controller.
Keywords :
adaptive control; control system synthesis; force control; position control; robot dynamics; variable structure systems; adaptive sliding-mode control; controller design; end effector; flexible joint robot; hybrid force/position controller; subsystems stability; trajectory tracking; Adaptive control; Control design; Control systems; End effectors; Force control; Friction; Programmable control; Robot control; Sliding mode control; Trajectory; Force control; Friction force; Lyapunov stability; Robot end effector; Sliding mode control;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Mechatronics and Automation, 2008. ICMA 2008. IEEE International Conference on
Conference_Location :
Takamatsu
Print_ISBN :
978-1-4244-2631-7
Electronic_ISBN :
978-1-4244-2632-4
Type :
conf
DOI :
10.1109/ICMA.2008.4798846
Filename :
4798846
Link To Document :
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