کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
9540770 1365669 2005 11 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Sliding mode control of manipulators using first-order equations of motion with diagonal mass matrix
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر پردازش سیگنال
پیش نمایش صفحه اول مقاله
Sliding mode control of manipulators using first-order equations of motion with diagonal mass matrix
چکیده انگلیسی
This paper presents a proposition of a sliding mode controller for a rigid manipulator expressed in terms of the generalized velocity components (GVC) vector. Introduction of GVC (Trans. ASME J. Appl. Mech. 62 (1995) 216) together with generalized positions leads to two first-order decoupled equations of motion instead of a single second-order equation. It is shown that the new controller, stable in the sense of Lyapunov, has different properties and can, according to Slotine and Li (Int. J. Robotics Res. 6 (1987) 49), give better performance than the classical sliding mode controller. Both control algorithms were tested on a 3 d.o.f., 3-D Yasukawa-like robot.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Journal of the Franklin Institute - Volume 342, Issue 4, July 2005, Pages 353-363
نویسندگان
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