Smooth Sliding Mode Control for Constrained Manipulator with Joint Flexibility
| Authors: | Huang Chin-I, National Taiwan University, Taiwan
Lian Kuang-Yow, Chung-Yuan Christian University, Taiwan
Chiu Chian-Song, Chienkuo Technology University, Taiwan
Fu Li-Chen, National Taiwan University, Taiwan |
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| Topic: | 4.3 Robotics |
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| Session: | Robot Manipulators |
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| Keywords: | Nonlinear Control, Sliding Mode Control, Flexible Joint Robot, Robotics, Manipulators |
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Abstract
This paper presents a smooth sliding mode control plus backstepping method for the motion/force control of a constrained robotic manipulator with flexible joints. The control scheme is presented based on that overall system parameters are with uncertainties whereas only the constrained force, positions and velocities of links and rotors are measurable. By utilizing some properties of robotic systems and the smooth sliding technique, an adaptive backstepping design method is carried out for full order dynamics. The smooth sliding controller can achieve zero motion and force tracking errors. The simulation results for a planar robot illustrate the expected satisfactory performance.
