عنوان

Control of Lightweight Manipulators Based on Sliding Mode Technique.

9533070706

9789533070704

b610595

Control of Lightweight Manipulators Based on Sliding Mode Technique.

[Book]

Jingxin Shi

INTECH Open Access Publisher

2010

The robust position tracking controller based on integral sliding mode for rigid-body manipulators is extended to the position tracking control of lightweight manipulators as well as flexible joint robots. Moreover, the control system takes the dynamics of joint motors into account. The joint flexibility is solved by singular perturbation approach which needs no parameter from the controlled system. Also, the current controller for the joint motors is a robust controller without involving the parameters of the electric motors and decoupling process. By using sliding mode PWM technique the current controller overcomes the disadvantages associated with the conventional build-in PWM in micro-processors or DSPs. For the link position tracking control only some rough nominal values are required. It is possible to achieve the pole-placement design without the exact knowledge about the manipulator system to be controlled. Moreover, the control design is mathematically easy and straightforward without involving the properties of the robot dynamics. The resulting control algorithms are simple enough for real-time implementation. The tradeoff between.

Open Access Collection.

Jingxin Shi

Fenglei Ni

Hong Liu

Jingxin Shi

[Book]

Y