• DocumentCode
    3614249
  • Title

    Design of decoupled sliding mode control for the PUMA 560 robot manipulator

  • Author

    J. Mozaryn;J.E. Kurek

  • Author_Institution
    Inst. of Autom. Control & Robotics, Warsaw Univ. ofTechnology, Warszawa, Poland
  • fYear
    2002
  • fDate
    6/24/1905 12:00:00 AM
  • Firstpage
    45
  • Lastpage
    50
  • Abstract
    This paper presents the design of a decupled sliding mode control algorithm for the PUMA 560 robot arm position control. The Lagrange-Euler model of the robot is used for calculation of control law. Computer simulations of the robot with the decoupled sliding mode control and exact and non-exact model are described. The control algorithm is simple and has a good robustness with respect to the robot model uncertainty.
  • Keywords
    "Sliding mode control","Manipulators","Robot kinematics","Equations","Robotics and automation","Automatic control","Lagrangian functions","Robust control","Robot control","Mathematical model"
  • Publisher
    ieee
  • Conference_Titel
    Robot Motion and Control, 2002. RoMoCo ´02. Proceedings of the Third International Workshop on
  • Print_ISBN
    83-7143-429-4
  • Type

    conf

  • DOI
    10.1109/ROMOCO.2002.1177082
  • Filename
    1177082
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3614249