MANIPULATION
Design of decoupled sliding mode control for the PUMA 560 robot manipulator
Jakub Możaryn, J. E. Kurek
- Year
- 2003
- Citations
- 13
Abstract
This paper presents the design of a decupled sliding mode control algorithm for the PUMA 560 robot arm position control. The Lagrange-Euler model of the robot is used for calculation of control law. Computer simulations of the robot with the decoupled sliding mode control and exact and non-exact model are described. The control algorithm is simple and has a good robustness with respect to the robot model uncertainty.
Keywords
Control theory (sociology)Robustness (evolution)Sliding mode controlRobotRobot controlComputer scienceRobot manipulatorMode (computer interface)Control engineeringEngineering
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