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-...
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| Format: | Conference or Workshop Item |
| Language: | en |
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2005
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| Online Access: | http://eprints.utm.my/1844/1/babulsalam05_decentralized_propotional_integral.pdf http://eprints.utm.my/1844/ |
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| _version_ | 1845470555583545344 |
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| author | Kader Ibrahim, Babul Salam Bakar, Saleha Ahmad, Mohd. Noh Osman, Johari H. S. |
| author_facet | Kader Ibrahim, Babul Salam Bakar, Saleha Ahmad, Mohd. Noh Osman, Johari H. S. |
| author_sort | Kader Ibrahim, Babul Salam |
| building | UTM Library |
| collection | Institutional Repository |
| content_provider | Universiti Teknologi Malaysia |
| content_source | UTM Institutional Repository |
| continent | Asia |
| country | Malaysia |
| description | 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. |
| format | Conference or Workshop Item |
| id | my.utm.eprints-1844 |
| institution | Universiti Teknologi Malaysia |
| language | en |
| publishDate | 2005 |
| record_format | eprints |
| spelling | my.utm.eprints-18442012-01-05T01:58:30Z http://eprints.utm.my/1844/ A decentralized proportional-integral sliding mode tracking controller for a 2 D.O.F robot arm Kader Ibrahim, Babul Salam Bakar, Saleha Ahmad, Mohd. Noh Osman, Johari H. S. TK Electrical engineering. Electronics Nuclear engineering 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. 2005-12-04 Conference or Workshop Item NonPeerReviewed application/pdf en http://eprints.utm.my/1844/1/babulsalam05_decentralized_propotional_integral.pdf Kader Ibrahim, Babul Salam and Bakar, Saleha and Ahmad, Mohd. Noh and Osman, Johari H. S. (2005) A decentralized proportional-integral sliding mode tracking controller for a 2 D.O.F robot arm. In: Proceeding of the 9th International Conference on Mechatronics Technology, 5-8 December 2005, Kuala Lumpur. |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Kader Ibrahim, Babul Salam Bakar, Saleha Ahmad, Mohd. Noh Osman, Johari H. S. A decentralized proportional-integral sliding mode tracking controller for a 2 D.O.F robot arm |
| title | A decentralized proportional-integral sliding mode tracking controller for a 2 D.O.F robot arm |
| title_full | A decentralized proportional-integral sliding mode tracking controller for a 2 D.O.F robot arm |
| title_fullStr | A decentralized proportional-integral sliding mode tracking controller for a 2 D.O.F robot arm |
| title_full_unstemmed | A decentralized proportional-integral sliding mode tracking controller for a 2 D.O.F robot arm |
| title_short | A decentralized proportional-integral sliding mode tracking controller for a 2 D.O.F robot arm |
| title_sort | decentralized proportional-integral sliding mode tracking controller for a 2 d.o.f robot arm |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://eprints.utm.my/1844/1/babulsalam05_decentralized_propotional_integral.pdf http://eprints.utm.my/1844/ |
| url_provider | http://eprints.utm.my/ |