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http://dx.doi.org/10.5302/J.ICROS.2008.14.12.1286

Control of Multi-Joint Manipulator Using PD-Sliding Mode  

Son, Hyun-Seok (부산대학교 전자.전기.통신 공학부)
Lee, Won-Ki (부산대학교 전자.전기.통신 공학부)
Lee, Jang-Myung (부산대학교 전자.전기.통신 공학부)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.14, no.12, 2008 , pp. 1286-1293 More about this Journal
Abstract
This paper proposes a realization of robust trajectory tracking for an industrial robot by using PD-sliding mode hybrid control. The PD control has a good performance in the transient period while the sliding mode control has robustness against the system uncertainties. The proposed control method is proposed for the control of a multi-joint robot by taking advantages of both the PD and sliding mode controls. The embodiment of distributed controllers that drive 4-DOF axes has evaluated through experiments with the multi-joint robot AT1. The PD-sliding mode algorithm which is proposed in this paper shows a good performance in the transient period and robustness against disturbances and This paper shows accuracy of end-effector.
Keywords
distributed controller; dynamics; PD control; sliding mode control;
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