Design and implementation of improved sliding mode controller on 6R manipulator

• Autorzy: Korayem M. H. , Nekoo S. R. , Khademi A. , Abdollahi F.

Identyfikatory

DOI

10.15632/jtam-pl.55.1.265

• Języki publikacji: EN

Abstrakty

EN

In this work, we present an improved sliding mode control (ISMC) technique designed and implemented for control of 6R manipulator. Sliding mode control (SMC) is a well-known nonlinear robust method for controlling systems in the presence of uncertainties and disturbances and systems with complex dynamics as in manipulators. Despite this good property, it is difficult to implement this method for the manipulator with a complex structure and more than three degree-of-freedom because of the complicated and massive equation and chattering phenomenon as a property of SMC in control inputs. Here, the chattering phenomenon is eliminated by using an effective algorithm called ISMC and implemented to 6R manipulator by using a low-cost control board based on an ARM microcontroller with high accuracy and memory. The carrying load is considered as the uncertainty for the manipulator, while the dynamic load carrying capacity (DLCC) is considered as a robot performance criterion showing robustness of the controller. The results of simulations and experiments show that the proposed approach has a good performance and is suitable and practical to be applied for manipulators.

Słowa kluczowe

EN

improved sliding mode control; chattering; DLCC; hardware implementation

• Wydawca: Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej
• Czasopismo: Journal of Theoretical and Applied Mechanics
• Rocznik: 2017
• Tom: Vol. 55 nr 1
• Strony: 265--280
• Opis fizyczny: Bibliogr. 19 poz., rys., tab.

Twórcy

autor

Korayem M. H.

• Robotic Research Laboratory, Center of Excellence in Experimental Solid Mechanics and Dynamics, School of Mechanical Engineering, Iran University of Science and Technology (IUST), Tehran, Iran

autor

Nekoo S. R.

• Robotic Research Laboratory, Center of Excellence in Experimental Solid Mechanics and Dynamics, School of Mechanical Engineering, Iran University of Science and Technology (IUST), Tehran, Iran

autor

Khademi A.

• Robotic Research Laboratory, Center of Excellence in Experimental Solid Mechanics and Dynamics, School of Mechanical Engineering, Iran University of Science and Technology (IUST), Tehran, Iran

autor

Abdollahi F.

• Robotic Research Laboratory, Center of Excellence in Experimental Solid Mechanics and Dynamics, School of Mechanical Engineering, Iran University of Science and Technology (IUST), Tehran, Iran

Bibliografia

• 1. Ahmadi R., Korayem M.H., Jaafari N., Jamali Y., Kiomarsi M., Habibnejad A., 2009, Design, modeling, implementation and experimental analysis of 6R robot, International Journal of Engineering Science, 21, 1, 71-84
• 2. Ataei M., Hooshmand R.A., Samani S.G., 2014, A coordinated MIMO control design for a power plant using improved sliding mode controller, ISA Transactions, 53, 2, 415-422
• 3. Beyhan S., Lendek Z., Babuska R., Wisse M., Alci M., 2011, Adaptive fuzzy and sliding- -mode control of a robot manipulator with varying payload, Proceeding of IEEE Conference on Decision and Control and European Control Conference, Orlando, FL, USA, 8291-8296
• 4. Capisani L.M., Ferrara A., 2012, Trajectory planning and second-order sliding mode motion/interaction control for robot manipulators in unknown environments, IEEE Transactions on Industrial Electronics, 59, 8, 3189-3198
• 5. Ertugrul M., Kaynak O., Kerestecioglu F., 2000, Gain adaptation in sliding mode control of robotic manipulators, International Journal of Systems Science, 31, 9, 1099-1106
• 6. Foster D., Harrison A., 2011, Experimental investigation of a 5-DOF robot arm with sliding mode control, Proceeding of IEEE Conference on Robotics, Automation and Mechatronics, Qingdao, 125-130
• 7. Hamraz N.J., Korayem M.H., Jamali Y., Kiumarsi M., Asadi M.A., Rezaei S., Sohrabi A., 2005, Design, manufacturing and performance testing of 3r manipulator, International Congress on Manufacturing Engineering, Tehran
• 8. Islam S., Liu X.P., 2011, Robust sliding mode control for robot manipulators, IEEE Transactions on Industrial Electronics, 58, 6, 2444-2453
• 9. Islam R.U., Iqbal J., Khan Q., 2014, Design and comparison of two control strategies for multi- -DOF articulated robotic arm manipulator, Journal of Control Engineering and Applied Informatics, 16, 2, 28-39
• 10. Jamali Y., Korayem M.H., Hamraz N.J., Sohrabi A.M., Kiomarsi M., Asadi M.A., Reazaee S., 2005, Design and manufacturing a robot wrist: performance analysis, International Congress on Manufacturing Engineering, Tehran
• 11. Korayem M.H., Haghighi R., Nikoobin A., Alamdari A., Korayem A.H., 2009, Determining maximum load carrying capacity of flexible link manipulators, Scientia Iranica, Transactions B: Mechanical Engineering, 16, 5, 440-450
• 12. Korayem M.H., Irani M., Nekoo S.R., 2010, Analysis of manipulators using SDRE: A closed loop nonlinear optimal control approach, Scientia Iranica, Transaction B: Mechanical Engineering, 17, 6, 456-467
• 13. Korayem M.H., Nekoo S.R., Abdollahi F., 2013, Hardware implementation of a closed loop controller on 6R robot using ARM microcontroller, International Research Journal of Applied and Basic Sciences, 4, 8, 2147-2158
• 14. Korayem M.H., Khademi A., Nekoo S.R., 2014, A comparative study on SMC, OSMC and SDRE for robot control, IEEE Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM), Tehran, Iran, 013-018
• 15. Sefriti S., Boumhidi J., Naoual R., Boumhidi I., 2012, Adaptive neural network sliding mode control for electrically-driven robot manipulators, Journal of Control Engineering and Applied Informatics, 14, 4, 27-32
• 16. Shi J., Liu H., Bajcinca N., 2008, Robust control of robotic manipulators based on integral sliding mode, International Journal of Control, 81, 10, 1537-1548
• 17. Slotine J.J.E., Li W., 1991, Applied Nonlinear Control, Vol. 60, Englewood Cliffs, NJ: Prentice- -Hall
• 18. Thangavelusamy D., Ponnusamy L., 2013, Elimination of chattering using fuzzy sliding mode controller for drum boiler turbine System, Journal of Control Engineering and Applied Informatics, 15, 2, 78-85
• 19. Vega V.P., Arimoto S., Liu Y.H., Hirzinger G., Akella P., 2003, Dynamic sliding PID control for tracking of robot manipulators: theory and experiments, IEEE Transactions on Robotics and Automation, 19, 6, 967-976

Uwagi

PL

Opracowanie ze środków MNiSW w ramach umowy 812/P-DUN/2016 na działalność upowszechniającą naukę (zadania 2017)