Implementation of a new sliding mode control for SCARA robot

Author

Lee, M.C. ; Son, K. ; Lee, J.M. ; Lee, M.H. ; Ahn, D.S. ; Han, S.H.

Author_Institution

Dept. of Mech. Eng., Pusan Nat. Univ., South Korea

Volume

2

fYear

1995

fDate

21-23 Jun 1995

Firstpage

1387

Abstract

This paper addresses the implementation of a new sliding mode control algorithm for a high speed/precision controller which is robust against the variation of robot parameters and load. The nonlinear dynamics become prominent in high speed operation but can hardly be modeled accurately. Therefore, we consider the nonlinear inertia, Coriolis and centrifugal force terms as external disturbances. This approach is applied to sliding mode control to obtain switching control inputs. The control input obtained satisfy the existence condition of sliding mode. A dynamic simulator has been developed and used to evaluate the proposed algorithm for SCARA robots. Simulated results show that the proposed algorithm is robust against disturbances and reduces the amount of chattering. An experiment was performed to demonstrate the simulated results in a real system

Keywords

Coriolis force; force control; nonlinear control systems; robot dynamics; robust control; variable structure systems; Coriolis force; SCARA robot; centrifugal force; chattering reduction; dynamic simulator; external disturbances; nonlinear inertia; precision controller; sliding mode control; switching control inputs; Electrical equipment industry; Equations; Force control; Friction; Industrial control; Manipulators; Robot control; Robust control; Service robots; Sliding mode control;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, Proceedings of the 1995

Conference_Location

Seattle, WA

Print_ISBN

0-7803-2445-5

Type

conf

DOI

10.1109/ACC.1995.520978

Filename

520978