A decentralized proportional-integral sliding mode tracking controller for a 2 D.O.F robot arm
Trajectory tracking with high accuracy is a very challenging topic in direct drive robot control. This is due to the nonlinearities and input couplings present in the dynamics of the arm. This paper deals with the tracking control of a class of direct-drive robot manipulators. A robust Proportional-...
| Main Authors: | , , , |
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| Format: | Conference or Workshop Item |
| Subjects: | |
| Online Access: | http://eprints.uthm.edu.my/2636/ http://eprints.uthm.edu.my/2636/1/ICMT%2D181.pdf |
| Summary: | Trajectory tracking with high accuracy is a very
challenging topic in direct drive robot control. This is
due to the nonlinearities and input couplings present in
the dynamics of the arm. This paper deals with the
tracking control of a class of direct-drive robot
manipulators. A robust Proportional-Integral (PI)
sliding mode control law is derived so that the robot
trajectory tracks a desired trajectory as closely as
possible despite the highly non-linear and coupled
dynamics. The controller is designed using the
decentralized approaches. Application to a two degree
of freedom direct drive robot arm is considered. |
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