Modification of Algorithms for Determination of Dynamic Load Carrying Capacity in Flexible Joint Robots

In this paper modifications have been represented for feedback linearization and sliding mode control approaches in determination of maximum load of Flexible Joint Robots. These modifications are applied for better result of dynamic load carrying capacity. In the case of feedback linearization pole placement for the linearized system has been optimized. Considering the fact of dependence of Sliding Mode Control law to the coefficients of the sign/saturation functions, it has been proposed an algorithm for determination of dynamic load carrying capacity when these coefficients are dependent on tool´s load which allows having better result of dynamic load carrying capacity. Simulation test is carried out in each condition and resulted maximum dynamic load carrying capacities are discussed.