Sliding mode control of rigid-link anthropomorphic robotic arm

Increasing demands of accuracy, productivity, reliability and repeatability in today's robotic applications have highlighted significance of modern control techniques. The associated control law must be able to handle perturbation forces, joint friction and parameter variations which can degrade the robot performance. This paper proposes non-linear Sliding Mode Control (SMC) for a 6 Degree of Freedom (DOF) human arm like robotic manipulator AUTonomous Articulated Robotic Educational Platform (AUTAREP). The proposed control algorithm is compared with a trivial linear control strategy Proportional-Integral-Derivative (PID). Simulation results depicted the efficiency of SMC over PID in term of tracking response for various desired trajectories.

[1]  Muhammad Aslam Uqaili,et al.  Steady State Dynamic Operating Behavior of Universal Motor , 2015 .

[2]  M.N. Ahmad,et al.  Robust sliding mode control for robot manipulator tracking problem using a proportional-integral switching surface , 2003, Proceedings. Student Conference on Research and Development, 2003. SCORED 2003..

[3]  Rong-Jong Wai,et al.  Fuzzy-Neural-Network Inherited Sliding-Mode Control for Robot Manipulator Including Actuator Dynamics , 2013, IEEE Transactions on Neural Networks and Learning Systems.

[4]  Jamshed Iqbal,et al.  Disturbance-Observer-Based Robust Control of a Serial-link Robotic Manipulator Using SMC and PBC Techniques , 2015 .

[5]  Nikolaos G. Tsagarakis,et al.  A human hand compatible optimised exoskeleton system , 2010, 2010 IEEE International Conference on Robotics and Biomimetics.

[6]  Jyoti Ohri,et al.  Comparison of Robustness of PID Control and Sliding Mode Control of Robotic Manipulator , 2011 .

[7]  Jamshed Iqbal,et al.  HEXOSYS II - towards realization of light mass robotics for the hand , 2011, 2011 IEEE 14th International Multitopic Conference.

[8]  Jamshed Iqbal,et al.  EMBEDDED CONTROL SYSTEM FOR AUTAREP-A NOVEL AUTONOMOUS ARTICULATED ROBOTIC EDUCATIONAL PLATFORM , 2014 .

[9]  Maria Letizia Corradini,et al.  Discrete time sliding mode control of robotic manipulators: Development and experimental validation , 2011, ETFA2011.

[10]  Ismail Boumhidi,et al.  Adaptive Neural Network Sliding Mode Control For Electrically-Driven Robot Manipulators , 2012 .

[11]  Jamshed Iqbal,et al.  Ugrađeni upravljački sustav za AUTAREP- novu AUTonomnu Artikuliranu Robotičku Edukativnu Platformu , 2014 .

[12]  Jamshed Iqbal,et al.  Robotics for Nuclear Power Plants — Challenges and future perspectives , 2012, 2012 2nd International Conference on Applied Robotics for the Power Industry (CARPI).

[13]  Raza Ul Islam,et al.  An open-source multi-DOF articulated robotic educational platform for autonomous object manipulation , 2014 .

[14]  Jose Alvarez-Ramirez,et al.  On the PID tracking control of robot manipulators , 2001 .

[15]  Minal B. Patel,et al.  Voice Guided Military Robot for Defence Application , 2016 .

[16]  Nurkan Yagiz,et al.  MIMO fuzzy sliding mode controlled dual arm robot in load transportation , 2011, J. Frankl. Inst..

[17]  Metin Gokasan,et al.  High order sliding mode control of a space robot manipulator , 2011, Proceedings of 5th International Conference on Recent Advances in Space Technologies - RAST2011.

[18]  Jamshed Iqbal,et al.  RECENT ADVANCES AND APPLICATIONS OF TETHERED ROBOTIC SYSTEMS , 2014 .

[19]  Xiaoou Li,et al.  A novel PID tuning method for robot control , 2013, Ind. Robot.

[20]  Jamshed Iqbal,et al.  A systematic review of current and emergent manipulator control approaches , 2015 .

[21]  Jamshed Iqbal,et al.  Modeling and Analysis of a 6 DOF Robotic Arm Manipulator , 2012 .

[22]  Paolo Rocco,et al.  Stability of PID control for industrial robot arms , 1996, IEEE Trans. Robotics Autom..