TY - GEN
T1 - Experimental investigation of a 5-DOF robot arm with sliding mode control
AU - Foster, D. J.
AU - Harrison, A. J.L.
PY - 2011
Y1 - 2011
N2 - Hyper-redundant manipulators offer the ability to move within physically constrained spaces, which can be of particular benefit; e.g. inspection and maintenance in hazardous or otherwise hard-to-access environments. However, being comprised of several links joined end-to-end, they can exhibit rather complex kinematics, low values of flexural stiffness and fundamental natural frequency, high internal forces, friction and backlash. For these reasons, it can be difficult to obtain rapid, accurate and robust control of their movement. This paper describes the implementation of firstly PID and then sliding mode control on a five-link robot. Sliding mode control is shown to be superior, particularly in response to gravitational loads. Chattering and control signal switching effort were successfully suppressed via incorporation of a modified error-dependent switching gain.
AB - Hyper-redundant manipulators offer the ability to move within physically constrained spaces, which can be of particular benefit; e.g. inspection and maintenance in hazardous or otherwise hard-to-access environments. However, being comprised of several links joined end-to-end, they can exhibit rather complex kinematics, low values of flexural stiffness and fundamental natural frequency, high internal forces, friction and backlash. For these reasons, it can be difficult to obtain rapid, accurate and robust control of their movement. This paper describes the implementation of firstly PID and then sliding mode control on a five-link robot. Sliding mode control is shown to be superior, particularly in response to gravitational loads. Chattering and control signal switching effort were successfully suppressed via incorporation of a modified error-dependent switching gain.
UR - http://www.scopus.com/inward/record.url?scp=82955178602&partnerID=8YFLogxK
U2 - 10.1109/RAMECH.2011.6070468
DO - 10.1109/RAMECH.2011.6070468
M3 - Conference contribution
AN - SCOPUS:82955178602
SN - 9781612842509
T3 - IEEE Conference on Robotics, Automation and Mechatronics, RAM - Proceedings
SP - 125
EP - 130
BT - Proceedings of the 2011 IEEE 5th International Conference on Robotics, Automation and Mechatronics, RAM 2011
T2 - 2011 IEEE 5th International Conference on Robotics, Automation and Mechatronics, RAM 2011
Y2 - 17 September 2011 through 19 September 2011
ER -