Model free sliding mode control for serial robot manipulator: rigid and elastic joint robot

• Autorzy: Belkedari Mariem , Litime Mostafa , Belaidi Abdelkader , Henni Mansour Abdelwahed

Identyfikatory

DOI

10.15199/48.2024.05.25

Warianty tytułu

PL

Sterowanie trybem swobodnego przesuwania dla manipulatora robota szeregowego: robo ze sztywnym i elastycznym przegubem

• Języki publikacji: EN

Abstrakty

EN

The control of robotic manipulators with flexible joints is still a challenging problem for researchers. In this paper, a comprehensive investigation into the dynamic modeling and control of a two-degree-of-freedom (2-DOF) robot, both with and without flexible joints, is presented. Firstly, the mathematical modeling of the considered robot is presented to understand its dynamical behavior. Then, two types of controllers, namely the intelligent Proportional-Derivative (iPD) and the intelligent Proportional-Derivative Sliding Mode (iPDSM), are applied to the considered robot and purposefully compared in terms of robustness, setting time, and overshoot while tracking various trajectories. Two cases are considered in the simulation tests: In the first case, trajectory tracking is performed with no elasticity at the joints. However, in the second case, elasticity and damping are added. To verify the effectiveness of the proposed controllers, simulation analyses through MATLAB are carried out. Based on the obtained results, iPDSM provides satisfying results compared to iPD. Namely, iPDSM accurately generates the angular motion of the robot’s flexible joints, allowing the robot to properly track the prescribed trajectory independently of any information derived from the mathematical model, even in the presence of Stribeck friction and elasticity.

PL

Sterowanie robotami manipulacyjnymi wyposażonymi w elastyczne przeguby nadal stanowi wyzwanie dla badaczy. W artykule przedstawiono kompleksowe badanie dynamicznego modelowania i sterowania robotem o dwóch stopniach swobody (2-DOF), zarówno z elastycznymi przegubami, jak i bez nich. W pierwszej kolejności zaprezentowano model matematyczny rozpatrywanego robota, pozwalający zrozumieć jego zachowanie dynamiczne. Następnie do rozpatrywanego robota stosowane są dwa typy sterowników, a mianowicie inteligentny tryb proporcjonalno-różniczkujący (iPD) i inteligentny tryb proporcjonalno-różniczkujący (iPDSM), które są stosowane do rozpatrywanego robota i celowo porównywane pod względem wytrzymałości, czasu ustawiania i przeregulowania podczas śledzenia różnych trajektorie. W badaniach symulacyjnych uwzględniane są dwa przypadki: W pierwszym przypadku śledzenie trajektorii odbywa się bez elastyczności w stawach. Jednak w drugim przypadku dodaje się elastyczność i tłumienie. W celu sprawdzenia efektywności proponowanych sterowników przeprowadzane są analizy symulacyjne w programie MATLAB. Na podstawie uzyskanych wyników iPDSM zapewnia satysfakcjonujące wyniki w porównaniu do iPD. Mianowicie iPDSM dokładnie generuje ruch kątowy elastycznych przegubów robota, umożliwiając robotowi prawidłowe śledzenie zadanej trajektorii niezależnie od jakichkolwiek informacji pochodzących z modelu matematycznego, nawet w obecności tarcia i elastyczności Stribecka.

Słowa kluczowe

EN

elastic joint manipulator; under actuated; model free; sliding mode; tracking control

PL

manipulator elastycznego złącza; niedostatecznie uruchomiony; tryb ślizgowy; kontroler śledzenia

• Wydawca: Wydawnictwo SIGMA-NOT
• Czasopismo: Przegląd Elektrotechniczny
• Rocznik: 2024
• Tom: R. 100, nr 5
• Strony: 139--144
• Opis fizyczny: Bibliogr. 33 poz., rys., tab.

Twórcy

autor

Belkedari Mariem

• Laboratory of Automation and Systems Analysis LAAS, National polytechnic school of Oran, Algeria

autor

Litime Mostafa

• Laboratory of Automation and Systems Analysis LAAS, National polytechnic school of Oran, Algeria

autor

Belaidi Abdelkader

• Laboratory of Automation and Systems Analysis LAAS, National polytechnic school of Oran, Algeria

autor

Henni Mansour Abdelwahed

• Laboratory of Automation and Systems Analysis LAAS, National polytechnic school of Oran, Algeria

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Uwagi

Opracowanie rekordu ze środków MNiSW, umowa nr POPUL/SP/0154/2024/02 w ramach programu "Społeczna odpowiedzialność nauki II" - moduł: Popularyzacja nauki i promocja sportu (2025).