Journal of Mechanical Science and Technology

The Korean Society of Mechanical Engineers (대한기계학회)
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Design of a Fuzzy-Sliding Mode Controller for a SCARA Robot to Reduce Chattering

  • Go, Seok-Jo (Department of Machine System, Dongeui Institute of Technology) ;
  • Lee, Min-Cheol (School of Mechanical Engineering, Pusan National University)
  • Published : 2001.03.01
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Abstract

To overcome problems in tracking error related to the unmodeled dynamics in the high speed operation of industrial robots, many researchers have used sliding mode control, which is robust against parameter variations and payload changes. However, these algorithms cannot reduce the inherent chattering which is caused by excessive switching inputs around the sliding surface. This study proposes a fuzzy-sliding mode control algorithm to reduce the chattering of the sliding mode control by fuzzy rules within a pre-determined dead zone. Trajectory tracking simulations and experiments show that chattering can be reduced prominently by the fuzzy-sliding mode control algorithm compared to a sliding mode control with two dead zones, and the proposed control algorithm is robust to changes in payload. The proposed control algorithm is implemented to the SCARA (selected compliance articulated robot assembly) robot using a DSP (digital signal processor) for high speed calculations.

Keywords

References

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