Title :
Sliding Mode Ccontrol for 5-DOF Manipulator
Author :
Jiageng, Zhang ; Wenpin, Jiang ; Weibin, Huang ; Yu, Zhang
Author_Institution :
Sch. of Mech. Eng., Tianjin Univ. of Technol., Tianjin, China
Abstract :
Manipulator is a combination product of high technology-intensive of electronic and machinery. It has become an important field of technological in industrial nations. This paper is conceived as follows: Based on the structural characteristics of manipulators, the dynamic model of robot is built by using the Lagrange method; A sliding mode variable structure controller is designed for the manipulator; Then, simulation results verified the feasibility of the controller.
Keywords :
manipulator dynamics; variable structure systems; 5-DOF manipulator; Lagrange method; industrial nations; robot dynamic model; sliding mode variable structure controller; Computer languages; Educational institutions; Intelligent robots; Joints; Manipulator dynamics; Mathematical model; Dynamic Model; Manipulator; Matlab; Sliding Mode Variable Structure Control;
Conference_Titel :
Electrical and Control Engineering (ICECE), 2010 International Conference on
Conference_Location :
Wuhan
Print_ISBN :
978-1-4244-6880-5
DOI :
10.1109/iCECE.2010.481
