Variable structure position control of an industrial robotic manipulator

AUTOR(ES)

Mendes, M. F., Kraus Jr., W., Pieri, E. R. de

FONTE

Journal of the Brazilian Society of Mechanical Sciences

DATA DE PUBLICAÇÃO

2002-07

RESUMO

The use of a robust position controller for a robotic manipulator moving in free space is presented. The aim is to implement in practice a controller that is robust to uncertainties in the model of the system, as well as being inexpensive from a computational point of view. Variable structure theory provides the technique for the design of such controller. The design steps are presented, first from a theoretical perspective and then applied to the control of a two degree-of-freedom manipulator. Simulation results that backed the implementation are presented, followed by the experiments conducted and the results that were obtained. The conclusion is that variable structure control is readily applicable to industrial robots for the robust control of positions.

Documentos Relacionados

• STEPPER MOTOR CONTROL APPLIED TO A ROBOTIC MANIPULATOR
• Experimental study applied to an industrial robot by using variable structure controllers and friction compensation
• Antibody variable region glycosylation: position effects on antigen binding and carbohydrate structure.
• Interaction Between Motions of Robotic Manipulator arms and the Non-Fixed base in On-Orbit Operations
• ANÁLISE E DESENVOLVIMENTO DE UM MANIPULADOR ROBÓTICO PARA ARMAZENAMENTO DE VOLUMES PADRONIZADOS