Modeling and Sliding-mode Control of a Robot Manipulator actuated by the Ball Screw

볼나사를 이용한 매니퓰레이터의 모델링 및 슬라이딩모드 제어

Conventional robots actuated by motors with the speed reducer such as harmonic drive had weakness in delivering loads, pressing, grinding, and cutting jobs. To overcome this, a new type of robot actuated by the ball screw was proposed. The ball screw is actuated by using four bar mechanism. The dynamics model of the robot was set up. The robot has parameter uncertainties and nonlinearlity due to the ball screw actuator. To coordinate the robot, the sliding-mode control was applied.