Title :
Sliding mode based rejection of load and torque ripple in a direct-drive 2 DOF robot arm
Author :
Bogosyan, Seta ; Suravaram, Praveen Reddy ; Gokasan, Metin
Author_Institution :
Dept. Electr. & Comput. Eng., Alaska Univ., Fairbanks, AK, USA
Abstract :
This study aims to demonstrate the importance of torque ripple and its elimination for both position control and trajectory tracking applications in multi-degree of freedom (DOF) direct-drive (DD) systems. The problem of torque ripple has been studied intensively for 1 DOF systems, but to the best knowledge of the authors, this is the first study addressing this issue for a 2 DOF DD system under gravity effects. For this purpose the system performance is evaluated with realistic simulation models using a chattering-free sliding mode controller (SMC) for a variety of reference trajectories for both links, also taking ripple torque and cogging torque into account for each link. The comparison of the results obtained with a well-turned PID controller demonstrates significant rejection of both torque ripple and load uncertainties achieved with the SMC and the resulting increase in tracking accuracy of the overall system.
Keywords :
drives; position control; robots; three-term control; tuning; variable structure systems; 2 DOF robot arm; PID controller turning; cogging torque; direct-drive system; gravity effects; load ripple; load uncertainties; position control; sliding mode controller; torque ripple; trajectory tracking; Control systems; Forging; Gravity; Position control; Robots; Sliding mode control; System performance; Three-term control; Torque control; Trajectory;
Conference_Titel :
Industrial Electronics Society, 2005. IECON 2005. 31st Annual Conference of IEEE
Print_ISBN :
0-7803-9252-3
DOI :
10.1109/IECON.2005.1569209