Universiti Teknologi Malaysia Institutional Repository

A decentralized proportional-integral sliding mode tracking controller for a 2 D.O.F robot arm

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.

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Abstract

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.

Item Type:Conference or Workshop Item (Paper)
Uncontrolled Keywords:Trajectory tracking, direct drive, robot control, arm dynamics, tracking control, direct-drive robot, poportional-Integral (PI), sliding mode control, robot trajectory, decentralized approaches
Subjects:T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions:Electrical Engineering
ID Code:1844
Deposited By: Dr Zaharuddin Mohamed
Deposited On:15 Mar 2007 07:50
Last Modified:05 Jan 2012 01:58

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