Title :
Realization of a control device for a robotic manipulator based on nonlinear decoupling and sliding mode control
Author :
Bellini, Armando ; Figalli, Gennaro ; Pinello, Paolo ; Ulivi, Giovanni
Author_Institution :
Dept. of Electron. Eng., Rome Univ., Italy
Abstract :
The realization of a control system for a robotic manipulator is described. The control scheme is subdivided into two hierarchical levels: the inner level performs the output decoupling of the joint dynamics: the outer one computes the desired accelerations. The decoupling, obtained by a simplified compensator and a sliding mode technique, is realized by means of analog circuits, while the tracking of the desired trajectories is performed by a digital computer. The description of measurements and tests is included
Keywords :
compensation; nonlinear control systems; robots; variable structure systems; compensator; control system; digital computer; nonlinear decoupling; robotic manipulator; sliding mode control; Acceleration; Analog computers; Control systems; Gravity; Industrial control; Manipulators; Service robots; Sliding mode control; Torque; Trajectory;
Journal_Title :
Industry Applications, IEEE Transactions on
