Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Fuzzy-Sliding Mode Control for SCARA Robot Based on DSP

DSP를 이용한 스카라 로봇의 퍼지-슬라이딩 모드 제어

  • Go, Seok-Jo (Dept.of Intelligent Mechanical Engineering, Graduate School of Busan National University) ;
  • Lee, Min-Cheol (Busan National University)
  • 고석조 (부산대학교 대학원 지능기계공학과) ;
  • 이민철 (부산대학교 기계공학부)
  • Published : 2000.04.01
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Abstract

This paper shows that the proposed fuzzy-sliding mode control algorithm for a SCARA robot could reduce the chattering due to sliding mode control and is robust against a change of payload and parameter uncertainties. That is, the chattering can be reduced by changing control input for compensating disturbances into a control input by fuzzy rules within a pre-determined dead zone. The experimental results show that the chattering can be reduced more effectively by the fuzzy-sliding mode control algorithm than the sliding mode control with two dead zones. It is proved experimentally that the proposed control algorithm is robust to a change of payload. The proposed control algorithm is implemented to the SCARA robot using a DSP(board) for high speed calculations.

Keywords

References

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