| Autor: |
Sang Bong Kim, Hak Kyeong Kim, Myung Suk Oh, Tan Lam Chung, Thien Phuc Iran |
| Rok vydání: |
2005 |
| Předmět: |
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| Zdroj: |
30th Annual Conference of IEEE Industrial Electronics Society, 2004. IECON 2004. |
| DOI: |
10.1109/iecon.2004.1433345 |
| Popis: |
This paper proposed a sliding mode control method for a two-wheel welding mobile manipulator to track a smooth 3D curved welding path. To design a tracking controller, the tracking errors are defined between the welding point of the torch and the reference point moving at a specified constant welding speed on the welding path. A sliding surface is set up and a control law is proposed for stabilization of the sliding surface. The simulations are performed to show the effectiveness of the proposed controller. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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