Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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A Study on the Trajectory Control of SCARA Robot Using Sliding Modes

Sliding mode를 이용한 SCARA 로보트의 궤적 제어에 관한 연구

  • Hong, D.G. (Yeungnam University Dept. of Electrical Eng.) ;
  • Nam, K.T. (Yeungnam University Dept. of Electronic Eng.) ;
  • Lee, H.Y. (Yeungnam University Dept. of Electrical Eng.) ;
  • Park, J.I. (Yeungnam University Dept. of Electronic Eng.) ;
  • Lee, S.G. (Yeungnam University Dept. of Electrical Eng.)
  • Published : 1995.07.20
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Abstract

Sliding Mode Controller is largely used to control holy nonlinear system such as robot manipulator. This paper simulate the SCARA robot with sliding mode control algorithm and its applied form with saturation term to reduce chattering. In addition, hardware system using DSP board which operates with high speed is constructed.

Keywords