Design of a Fuzzy-Sliding Mode Controller for a SCARA Robot to Reduce Chattering
To overcome problems in tracking error related to the unmodeled dynamics in the high speed operation of industrial robots, many researchers have used sliding mode control, which is robust against parameter variations and payload changes. However, these algorithms cannot reduce the inherent chatterin...
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| Veröffentlicht in: | Journal of mechanical science and technology 2001-03, Vol.15 (3), p.339-350 |
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| container_title | Journal of mechanical science and technology |
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| creator | Go, Seok Jo Lee, Min Cheol |
| description | To overcome problems in tracking error related to the unmodeled dynamics in the high speed operation of industrial robots, many researchers have used sliding mode control, which is robust against parameter variations and payload changes. However, these algorithms cannot reduce the inherent chattering which is caused by excessive switching inputs around the sliding surface. This study proposes a fuzzy-sliding mode control algorithm to reduce the chattering of the sliding mode control by fuzzy rules within a pre-determined dead zone. Trajectory tracking simulations and experiments show that chattering can be reduced prominently by the fuzzysliding mode control algorithm compared to a sliding mode control with two dead zones, and the proposed control algorithm is robust to changes in payload. The proposed control algorithm is implemented to the SCARA (selected compliance articulated robot assembly) robot using a DSP (digital signal processor) for high speed calculations.[PUBLICATION ABSTRACT] |
| doi_str_mv | 10.1007/BF03185217 |
| format | Article |
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| identifier | ISSN: 1226-4865 |
| ispartof | Journal of mechanical science and technology, 2001-03, Vol.15 (3), p.339-350 |
| issn | 1226-4865 1738-494X 1976-3824 |
| language | eng |
| recordid | cdi_proquest_miscellaneous_1266758245 |
| source | SpringerLink Journals - AutoHoldings |
| subjects | Algorithms Applied sciences Computer science control theory systems Control algorithms Control system synthesis Control theory Control theory. Systems Digital signal processing Exact sciences and technology High speed Payloads Robotics Robots Sliding mode control Studies Vibration |
| title | Design of a Fuzzy-Sliding Mode Controller for a SCARA Robot to Reduce Chattering |
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