A decentralized proportional-integral sliding mode tracking controller for a 2 D.O.F robot arm

KSM Kader Ibrahim, Babul Salam and Bakar, Saleha and Ahmad, Mohamad Noh and Osman, Johari H.S. A decentralized proportional-integral sliding mode tracking controller for a 2 D.O.F robot arm. In: ICMT 2005 : program and abstracts, 9th International Conference on Mechatronics Technology, 5-8 December 2005, Kuala Lumpur.

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Abstract

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.

Item Type:Conference or Workshop Item (Paper)
Subjects:T Technology > TJ Mechanical engineering and machinery > TJ227-240 Machine design and drawing
Divisions:Faculty of Electrical and Electronic Engineering > Department of Robotic and Mechatronic Engineering
ID Code:2636
Deposited By:Normajihan Abd. Rahman
Deposited On:07 Nov 2012 14:34
Last Modified:07 Nov 2012 14:34

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