Sliding Mode Control of a Two-link Robot Manipulator Using Adams & Matlab Software
Küçük Resim Yok
Tarih
2018
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
IEEE
Erişim Hakkı
info:eu-repo/semantics/closedAccess
Özet
This paper presents the design of a sliding mode controller (SMC) for trajectory tracking problem for a two-link planar robot manipulator. A virtual prototype of the manipulator has been built by using Adams software. Also, the controller works is achieved in Matlab/Simulink software. The system is simulated in both Matlab and Adams software together which is called co-simulation. The manipulator system has two inputs (torques of actuators) and four outputs (angle of 1st joint, angle of 2nd joint and x-y components of end effector position). The sliding mode controller (SMC) is designed with the constant variation reaching law. The simulation results show that the sliding mode controller (SMC) can successfully achieve trajectory tracking of a two-link planar robot manipulator according to the desired trajectory.
Açıklama
6th International Conference on Control Engineering and Information Technology (CEIT) -- OCT 25-27, 2018 -- Istanbul, TURKEY
Anahtar Kelimeler
sliding mode control, two-link robot, robot manipulators, trajectory tracking, adams, matlab
Kaynak
2018 6TH INTERNATIONAL CONFERENCE ON CONTROL ENGINEERING & INFORMATION TECHNOLOGY (CEIT)
WoS Q Değeri
N/A
