Trajectory tracking of mobile manipulator for welding task using sliding mode control

Author

Thien Phuc Iran ; Chung, Tan Lam ; Kim, Hak Kyeong ; Kim, Sang Bong ; Oh, Myung Suk

Author_Institution

Dept. of Mech. Eng., Pukyong Nat. Univ., Busan, South Korea

Volume

1

fYear

2004

fDate

2-6 Nov. 2004

Firstpage

407

Abstract

This paper proposed a sliding mode control method for a two-wheel welding mobile manipulator to track a smooth 3D curved welding path. To design a tracking controller, the tracking errors are defined between the welding point of the torch and the reference point moving at a specified constant welding speed on the welding path. A sliding surface is set up and a control law is proposed for stabilization of the sliding surface. The simulations are performed to show the effectiveness of the proposed controller.

Keywords

manipulators; position control; robotic welding; stability; variable structure systems; sliding mode control; sliding surface; smooth 3D curved welding path; stabilization; tracking controller; tracking errors; trajectory tracking; two-wheel welding mobile manipulator; welding point; Electronics industry; Manipulator dynamics; Mathematical model; Metals industry; Mobile robots; Shipbuilding industry; Sliding mode control; Textile industry; Trajectory; Welding;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics Society, 2004. IECON 2004. 30th Annual Conference of IEEE

Print_ISBN

0-7803-8730-9

Type

conf

DOI

10.1109/IECON.2004.1433345

Filename

1433345