A Position Synchronization Controller for Co-ordinated Links (COOL) Dual Robot Arm Based on Integral Sliding Mode: Design and Experimental Validation
文献类型：期刊论文
| 作者 | Sumi Phukan; Chitralekha Mahanta |
| 刊名 | International Journal of Automation and Computing
 |
| 出版日期 | 2021 |
| 卷号 | 18期号:1页码:110-123 |
| ISSN号 | 1476-8186 |
| 关键词 | Integral sliding mode control position synchronization dual-arm robotic manipulator chattering robust control |
| DOI | 10.1007/s11633-020-1242-3 |
| 英文摘要 | In this study, a simple position synchronization control algorithm based on an integral sliding mode is developed for dual-arm robotic manipulator systems. A first-order sliding surface is designed using cross-coupling error in order to ensure position synchronization of dual-arm manipulators. The design objective of the proposed controller is to ensure stability as well as to synchronize the movement of both arms while maintaining the trajectory as desired. The integral sliding mode eliminates the reaching phase and guarantees robustness throughout the whole operating period. Additionally, a low pass filter is used to smoothen the discontinuous element and minimize unwanted chattering. Lyapunov stability theory is utilized to prove the asymptotic stability of the controlled system. Simulation studies are performed to validate the proposed controller′s effectiveness. Also, to investigate the possibility of realizing the proposed dynamic control method in practical applications, experiments are conducted on a 14DoF coordinated links (COOL) dual-arm robotic manipulator system. Experimental evidence indicates adequate efficiency in trajectory tracking and guarantees robustness in the presence of parametric uncertainty and external disturbance. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/42458]  |
| 专题 | 自动化研究所_学术期刊_International Journal of Automation and Computing |
| 作者单位 | Department of Electronics and Electrical Engineering, Indian Institute of Technology Guwahati, Guwahati 781039, India |
| 推荐引用方式 GB/T 7714 | Sumi Phukan,Chitralekha Mahanta. A Position Synchronization Controller for Co-ordinated Links (COOL) Dual Robot Arm Based on Integral Sliding Mode: Design and Experimental Validation[J]. International Journal of Automation and Computing,2021,18(1):110-123. |
| APA | Sumi Phukan,&Chitralekha Mahanta.(2021).A Position Synchronization Controller for Co-ordinated Links (COOL) Dual Robot Arm Based on Integral Sliding Mode: Design and Experimental Validation.International Journal of Automation and Computing,18(1),110-123. |
| MLA | Sumi Phukan,et al."A Position Synchronization Controller for Co-ordinated Links (COOL) Dual Robot Arm Based on Integral Sliding Mode: Design and Experimental Validation".International Journal of Automation and Computing 18.1(2021):110-123. |
入库方式： OAI收割
来源：自动化研究所
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