Adaptive Terminal-Integral Sliding Mode Force Control of Elastic Joint Robot Manipulators in the Presence of Hysteresis
Ref: CISTER-TR-200101 Publication Date: 26 to 28, Oct, 2019
Adaptive Terminal-Integral Sliding Mode Force Control of Elastic Joint Robot Manipulators in the Presence of HysteresisRef: CISTER-TR-200101 Publication Date: 26 to 28, Oct, 2019
In this paper, an adaptive terminal-integral sliding mode force control of elastic joint robot manipulators in the presence of hysteresis is proposed. One of the most important issues that is solved in this study is that the hysteresis phenomenon is considered something that provokes losses in the manipulator motion and controller errors. Force control is necessary because it can be implemented and very useful in the area of industrial robotics such as collaborative and cooperative robotics. Therefore, it can be implemented for precise control in which robot-operator or robot-robot interaction is needed. An adaptive terminal-integral sliding mode force control is proposed by considering the hysteresis and the effects between the end effector and a flexible environment. Force control has not been studied extensively nowadays and even less for elastic joint robot manipulators. Thus, to improve the system precision control, the adaptive sliding mode controller (ASMC) is designed by a Lyapunov approach obtaining the adaptive and controller laws, respectively. As an experimental case study, two links elastic joint robot manipulator is considered by obtaining the elastic joint model with hysteresis using a Bouc-Wen model.
5th International Conference on Advanced Intelligent Systems and Informatics (AISI 2019), pp 1-12.
Notes: Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 1058)