Robust Control of a Spatial Robot Using Sliding Modes

摘要

In this work the control of a spatial robot by sliding mode control is studied. The robot model has three degrees of freedom. These robots are usually used in material handling in remote dangerous environments and production line. First, the mathematical model of the system is formulated. The equations of motion are driven by employing Lagrangian formulation based on the energy equations. Then the sliding mode control theory is applied. Special care is given to the chattering problem. The chattering may have serious damaging effect on gear systems as well as motor drive systems. Hence, the chattering character of classical sliding mode control is overcome and a new version of the control method is applied on robot. The simulation results are presented in graphical form and the robust character of the selected control method is shown to be capable of controlling the robots successfully against the disturbances as well as having the robot follow the desired trajectory.