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A Sliding Mode Control for a Robot Manipulator with closed-chain Structure  

Choi Hyeung Sik (한국해양대학교 기계정보공학부)
Baek Chagng Yul (한국해양대학교 기계공학과)
Hwang I Chul (동의대학교 메카트로닉스공학과)
Kim Moo Kyung (한국해양대학교 기계공학과)
Publication Information
Journal of the Korean Society for Precision Engineering / v.22, no.6, 2005 , pp. 98-108 More about this Journal
Abstract
Conventional robot manipulators actuated by motors with the speed reducer such as the harmonic drive have weakness in the load capacity, since the speed reducer does not have enough strength. To improve this, a new type of robot actuator based on the four-bar-link mechanism driven by the ball screw was constructed. Also, a new type of revolute robot manipulator composed of the developed actuators was developed. But, modelling errors occur due to the off-set from the nominal model since the exact modeling of the complex inertia variation of the four-bar-link actuator is very difficult. To control the proposed robot along the prescribed trajectory, a sliding mode control algorithm was applied with compensation function for the modeling errors. To show performance of the proposed controller, a computer simulation was performed, and its results was presented.
Keywords
Four-bar-link Actuator; Robot Manipulate; Sliding Mode Control; Closed-Chain;
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