DocumentCode
2977445
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
fYear
2010
fDate
25-27 June 2010
Firstpage
1958
Lastpage
1961
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Electrical and Control Engineering (ICECE), 2010 International Conference on
Conference_Location
Wuhan
Print_ISBN
978-1-4244-6880-5
Type
conf
DOI
10.1109/iCECE.2010.481
Filename
5629743
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