Sliding mode control-based system for the two-link robot arm
| Autor: | Nguyen Thang, Nguyen Trong Thang |
|---|---|
| Rok vydání: | 2019 |
| Předmět: |
General Computer Science
Computer science 020208 electrical & electronic engineering Mode (statistics) 02 engineering and technology Sliding mode control Computer Science::Robotics Control theory Control system 0202 electrical engineering electronic engineering information engineering Torque Robot Electrical and Electronic Engineering Link (knot theory) Robotic arm |
| Zdroj: | International Journal of Electrical and Computer Engineering (IJECE). 9:2771 |
| ISSN: | 2088-8708 |
| DOI: | 10.11591/ijece.v9i4.pp2771-2778 |
| Popis: | In this research, the author presents the model of the two-link robot arm and its dynamic equations. Based on these dynamic equations, the author builds the sliding mode controller for each joint of the robot. The tasks of the controllers are controlling the Torque in each Joint of the robot in order that the angle coordinates of each link coincide with the desired values. The proposed algorithm and robot model are built on Matlab-Simulink to investigate the system quality. The results show that the quality of the control system is very high: the response angles of each link quickly reach the desired values, and the static error equal to zero. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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