自然科学版 英文版
自然科学版 英文版
自然科学版 英文版
自然科学版 英文版
英文版编委
自然科学版 英文版
英文版首届青年编委

您目前所在的位置:首页 - 期刊简介 - 详细页面

中南大学学报(英文版)

Journal of Central South University

Vol. 25    No. 9    September 2018

[PDF Download]    [Flash Online]

    

Dynamic analysis, simulation, and control of a 6-DOF IRB-120 robot manipulator using sliding mode control and boundary layer method
Mojtaba HADI BARHAGHTALAB1, Vahid MEIGOLI1, Mohammad Reza GOLBAHAR HAGHIGHI2,Seyyed Ahmad NAYERI3, Arash EBRAHIMI4

1. Department of Electrical Engineering, School of Engineering, Persian Gulf University,Bushehr 7516913817, Iran;
2. Department of Mechanical Engineering, School of Engineering, Persian Gulf University,
Bushehr 7516913817, Iran;
3. Department of Communication, School of Electrical and Computer Engineering, Tehran University,Tehran 1417614418, Iran;
4. Institute of Electrical Power Engineering, Faculty of Computer Science and Electrical Engineering (IEF),Rostock University, Rostock 18059, Germany

Abstract:Because of its ease of implementation, a linear PID controller is generally used to control robotic manipulators. Linear controllers cannot effectively cope with uncertainties and variations in the parameters; therefore, nonlinear controllers with robust performance which can cope with these are recommended. The sliding mode control (SMC) is a robust state feedback control method for nonlinear systems that, in addition having a simple design, efficiently overcomes uncertainties and disturbances in the system. It also has a very fast transient response that is desirable when controlling robotic manipulators. The most critical drawback to SMC is chattering in the control input signal. To solve this problem, in this study, SMC is used with a boundary layer (SMCBL) to eliminate the chattering and improve the performance of the system. The proposed SMCBL was compared with inverse dynamic control (IDC), a conventional nonlinear control method. The kinematic and dynamic equations of the IRB-120 robot manipulator were initially extracted completely and accurately, and then the control of the robot manipulator using SMC was evaluated. For validation, the proposed control method was implemented on a 6-DOF IRB-120 robot manipulator in the presence of uncertainties. The results were simulated, tested, and compared in the MATLAB/Simulink environment. To further validate our work, the results were tested and confirmed experimentally on an actual IRB-120 robot manipulator.

 

Key words: robot manipulator control; IRB-120 robot; sliding mode control; sliding mode control with boundary layer; inverse dynamic control

中南大学学报(自然科学版)
  ISSN 1672-7207
CN 43-1426/N
ZDXZAC
中南大学学报(英文版)
  ISSN 2095-2899
CN 43-1516/TB
JCSTFT
版权所有:《中南大学学报(自然科学版、英文版)》编辑部
地 址:湖南省长沙市中南大学 邮编: 410083
电 话: 0731-88879765(中) 88836963(英) 传真: 0731-88877727
电子邮箱:zngdxb@csu.edu.cn 湘ICP备09001153号