Control of a 2 D.O.F direct drive robot arm using integral sliding mode control
High accuracy trajectory tracking 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 robot arm. This thesis is concerned with the problems of modelling and control of a 2 degree of freedom direct drive arm....
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| Format: | Thesis |
| Language: | en |
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2004
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| Online Access: | http://eprints.utm.my/2954/1/BabulSalamMFKE2004.pdf http://eprints.utm.my/2954/ |
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| _version_ | 1845470797061160960 |
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| author | KSM Kader Ibrahim, Babul Salam |
| author_facet | KSM Kader Ibrahim, Babul Salam |
| author_sort | KSM 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 | High accuracy trajectory tracking 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 robot arm. This thesis is concerned with the problems of modelling and control of a 2 degree of freedom direct drive arm. The research work is undertaken in the following five developmental stages; Firstly, the complete mathematical model of a 2 DOF direct drive robot arm including the dynamics of the brushless DC motors actuators in the state variable form is to be developed. In the second stage, the state variable model is to be decomposed into an uncertain model. Then, the Integral Sliding Mode Controller is applied to the robot arm. In the forth stage, perform the simulation. This is done through the simulation on the digital computer using MATLAB/SIMULINK as the platform. Lastly, the performance of Integral Sliding Mode Controller is to be compared with an Independent Joint Linear Control |
| format | Thesis |
| id | my.utm.eprints-2954 |
| institution | Universiti Teknologi Malaysia |
| language | en |
| publishDate | 2004 |
| record_format | eprints |
| spelling | my.utm.eprints-29542018-06-25T00:42:57Z http://eprints.utm.my/2954/ Control of a 2 D.O.F direct drive robot arm using integral sliding mode control KSM Kader Ibrahim, Babul Salam TK Electrical engineering. Electronics Nuclear engineering High accuracy trajectory tracking 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 robot arm. This thesis is concerned with the problems of modelling and control of a 2 degree of freedom direct drive arm. The research work is undertaken in the following five developmental stages; Firstly, the complete mathematical model of a 2 DOF direct drive robot arm including the dynamics of the brushless DC motors actuators in the state variable form is to be developed. In the second stage, the state variable model is to be decomposed into an uncertain model. Then, the Integral Sliding Mode Controller is applied to the robot arm. In the forth stage, perform the simulation. This is done through the simulation on the digital computer using MATLAB/SIMULINK as the platform. Lastly, the performance of Integral Sliding Mode Controller is to be compared with an Independent Joint Linear Control 2004-10 Thesis NonPeerReviewed application/pdf en http://eprints.utm.my/2954/1/BabulSalamMFKE2004.pdf KSM Kader Ibrahim, Babul Salam (2004) Control of a 2 D.O.F direct drive robot arm using integral sliding mode control. Masters thesis, Universiti Teknologi Malaysia, Faculty of Electrical Engineering. |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering KSM Kader Ibrahim, Babul Salam Control of a 2 D.O.F direct drive robot arm using integral sliding mode control |
| title | Control of a 2 D.O.F direct drive robot arm using integral sliding mode control |
| title_full | Control of a 2 D.O.F direct drive robot arm using integral sliding mode control |
| title_fullStr | Control of a 2 D.O.F direct drive robot arm using integral sliding mode control |
| title_full_unstemmed | Control of a 2 D.O.F direct drive robot arm using integral sliding mode control |
| title_short | Control of a 2 D.O.F direct drive robot arm using integral sliding mode control |
| title_sort | control of a 2 d.o.f direct drive robot arm using integral sliding mode control |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://eprints.utm.my/2954/1/BabulSalamMFKE2004.pdf http://eprints.utm.my/2954/ |
| url_provider | http://eprints.utm.my/ |