Sliding mode control of a two-link robot manipulator using adams matlab software

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dc.contributor.authorIlgen S.
dc.contributor.authorDurdu A.
dc.contributor.authorGulbahce E.
dc.contributor.authorCakan A.
dc.date.accessioned2020-03-26T20:11:50Z
dc.date.available2020-03-26T20:11:50Z
dc.date.issued2018
dc.departmentSelçuk Üniversitesien_US
dc.description6th International Conference on Control Engineering and Information Technology, CEIT 2018 -- 25 October 2018 through 27 October 2018 -- 149175en_US
dc.description.abstractThis 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. © 2018 IEEE.en_US
dc.identifier.doi10.1109/CEIT.2018.8751938en_US
dc.identifier.isbn9.78154E+12
dc.identifier.scopusqualityN/Aen_US
dc.identifier.urihttps://dx.doi.org/10.1109/CEIT.2018.8751938
dc.identifier.urihttps://hdl.handle.net/20.500.12395/37235
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherInstitute of Electrical and Electronics Engineers Inc.en_US
dc.relation.ispartof2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018en_US
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.selcuk20240510_oaigen_US
dc.subjectAdamsen_US
dc.subjectMatlaben_US
dc.subjectRobot manipulatorsen_US
dc.subjectSliding mode controlen_US
dc.subjectTrajectory trackingen_US
dc.subjectTwo-link roboten_US
dc.titleSliding mode control of a two-link robot manipulator using adams matlab softwareen_US
dc.typeConference Objecten_US

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