We found a match
Your institution may have access to this item. Find your institution then sign in to continue.
- Title
Validation of a Classical Sliding Mode Control Applied to a Physical Robotic Arm with Six Degrees of Freedom.
- Authors
González-Rodríguez, Andres; Baray-Arana, Rogelio E.; Rodríguez-Mata, Abraham Efraím; Robledo-Vega, Isidro; Acosta Cano de los Ríos, Pedro Rafael
- Abstract
The control of robotic manipulators has become increasingly difficult over recent years due to their high accuracy, performance, speed, and reliability in a variety of applications, such as industry, medicine, research, etc. These serial manipulator systems are extremely complex because their dynamic models include perturbations, parametric variations, coupled nonlinear dynamics, and non-modular dynamics, all of which require robust control for trajectory tracking. This paper compares two control techniques: computational torque control (CTC) and sliding mode control (SMC). In this study, the latter was used for a physical robotic arm with six degrees of freedom (DOF) and online experiments were conducted, which have received little attention in the literature. As a result, the contribution of this work was based on the real-time application of this controller via a self-developing interface. The great resilience of sliding mode controllers to disturbances was also demonstrated in this study.
- Subjects
SINGLE-degree-of-freedom systems; SLIDING mode control; MANIPULATORS (Machinery); ROBOTICS; ROBUST control; TORQUE control; ARM
- Publication
Processes, 2022, Vol 10, Issue 12, p2699
- ISSN
2227-9717
- Publication type
Article
- DOI
10.3390/pr10122699