Title :
Design of decoupled sliding mode control for the PUMA 560 robot manipulator
Author :
J. Mozaryn;J.E. Kurek
Author_Institution :
Inst. of Autom. Control & Robotics, Warsaw Univ. ofTechnology, Warszawa, Poland
fDate :
6/24/1905 12:00:00 AM
Abstract :
This paper presents the design of a decupled sliding mode control algorithm for the PUMA 560 robot arm position control. The Lagrange-Euler model of the robot is used for calculation of control law. Computer simulations of the robot with the decoupled sliding mode control and exact and non-exact model are described. The control algorithm is simple and has a good robustness with respect to the robot model uncertainty.
Keywords :
"Sliding mode control","Manipulators","Robot kinematics","Equations","Robotics and automation","Automatic control","Lagrangian functions","Robust control","Robot control","Mathematical model"
Conference_Titel :
Robot Motion and Control, 2002. RoMoCo ´02. Proceedings of the Third International Workshop on
Print_ISBN :
83-7143-429-4
DOI :
10.1109/ROMOCO.2002.1177082
