NDLI: Robust joint-model-based control for constrained robots

Content Provider	IEEE Xplore Digital Library
Author	Chen-Tien Chang Han-Pang Huang
Copyright Year	2008
Description	Author affiliation: Dept. of Mechatron. Technol., Tungnan Univ., Taipei (Chen-Tien Chang) \|\| Dept. of Mech. Eng., Nat. Taiwan Univ., Taipei (Han-Pang Huang)
Abstract	Most existing approaches so far on position/force control of constrained robots always suffer from the complexity of the arm model that may cause difficulty in practical application. In this paper, a robust joint-model-based controller is proposed to deal with the problem of hybrid position/force control for constrained robots. The development of the controller is based on a novel formulation of the joint dynamic model and a combination of nonlinear state transformation and sliding mode method. The proposed controller possesses not only the sliding mode control like robustness but also the independent joint control like simplicity. In addition, it can be easily implemented. To evaluate the control performance, the proposed controller is applied to a two-link constrained robot through simulations. Comparing with some existing approaches based on arm model, the simulation results indicate that the proposed scheme can achieve similar and satisfactory control performance.
Starting Page	1
Ending Page	6
File Size	492007
Page Count	6
File Format	PDF
ISBN	9781424426744
DOI	10.1109/ARSO.2008.4653596
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-08-23
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Dynamics Manipulators Robustness Mathematical model Joints Robots Equations
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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