Cartesian Trajectory Control of a Flexible Manipulator using Sliding Mode

Document Type

Article

Publication Date

9-1994

Publication Title

Mechatronics

Volume

4

Issue

6

First page number:

635

Last page number:

652

Abstract

A sliding mode control algorithm is presented for Cartesian trajectory control of a three-axis flexible manipulator by using the theory of variable structure systems. The manipulator has two rigid links and the third link is elastic. A parameterization of the Cartesian coordinates of a point close to the end-effector position is suggested. Using these coordinates as output variables, a discontinuous output control law is derived based on the variable structure theory for tracking reference Cartesian trajectories. To regulate the end point to a fixed position, a linear stabilizer is designed to damp the elastic vibration. Simulation results are presented to show the robustness of the proposed controller in spite of the parameter uncertainty in the arm dynamic model.

Keywords

Control theory; Manipulators (Mechanism); Trajectories (Mechanics)

Disciplines

Acoustics, Dynamics, and Controls | Control Theory | Mechanical Engineering | Robotics

Language

English

Permissions

Use Find in Your Library, contact the author, or interlibrary loan to garner a copy of the item. Publisher policy does not allow archiving the final published version. If a post-print (author's peer-reviewed manuscript) is allowed and available, or publisher policy changes, the item will be deposited.

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