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SLIDING MODE CONTROL FOR ROBOTIC MANIPULATOR
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| Author(s) |
F. Harashima; T. Ueshiba; H. Hashimoto; K. Maruyama |
| Abstract |
The application of the sliding mode control based on VSS (Variable Structure System) for a multi-joint manipulator is presented. The high-gain effect of sliding mode control suppresses the complicated interactions between the each joints of a robot arm as well as the disturbances due to the parameter variations. The resulting system is completely robust whereas the obtained control law is simple and easy to be applied to on-line computer control. In this paper, the sliding mode controller is implemented to a two-linkage manipulator. The validity of this technique is confirmed in experiments where the system shows the robust performance in spite of the existing nonlinear interactions and unknown parametric changes. |
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| Filename: | Unnamed file |
| Filesize: | 3.344 MB |
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| Type |
Members Only |
| Date |
Last modified 2021-03-12 by System |
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