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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Control of Multi-Joint Manipulator Using PD-Sliding Mode

PD-슬라이딩 모드를 이용한 다 관절 매니퓰레이터 제어

  • 손현석 (부산대학교 전자.전기.통신 공학부) ;
  • 이원기 (부산대학교 전자.전기.통신 공학부) ;
  • 이장명 (부산대학교 전자.전기.통신 공학부)
  • Published : 2008.12.01
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Abstract

This paper proposes a realization of robust trajectory tracking for an industrial robot by using PD-sliding mode hybrid control. The PD control has a good performance in the transient period while the sliding mode control has robustness against the system uncertainties. The proposed control method is proposed for the control of a multi-joint robot by taking advantages of both the PD and sliding mode controls. The embodiment of distributed controllers that drive 4-DOF axes has evaluated through experiments with the multi-joint robot AT1. The PD-sliding mode algorithm which is proposed in this paper shows a good performance in the transient period and robustness against disturbances and This paper shows accuracy of end-effector.

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References

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