Super-twisting sliding mode based nonlinear control for planar dual arm robots

In this paper, we worked on the control of the angular position of a two-joint robotic arm by the sliding mode technique, after having establishing the dynamic equations of the system by the Lagrange method, with the purpose of improving the performances of the system by acting on certain parameters related to the sliding mode technique. The simulation results show an optimization of the sliding mode controller parameters, generally, in the response of the controlled system, which consists on minimizing error and settling time, and eliminating the unwanted phenomenon of chattering, after finding the optimal values of these parameters. Verification by simulation of the robustness of the optimized robotic arm shows that its response is independent of the dimensions and masses of the bodies of this robotic arm, as well as of the applied load. this answer always corresponds to the best performances of speed, settling time and margin of error. the only quantity that varies according to the parameters of the robotic arm and the applied load is the torque required. This couple has a compensating effect to the change of these internal parameters and of this applied load, to keep the same optimal response on the condition of communicating these changes with the controller.

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“…To check the conditions (18), we usually choose the expression of 𝑆𝑆 ̇𝑖𝑖 given by the following reaching law with constant rate [18][19][20]:…”

Section: Design Of Control Lawmentioning

confidence: 99%

Optimization of the Performances of a Two-Joint Robotic Arm using Sliding Mode Control

Bendimrad

AMRANI

2022

Int. J. Automot. Mech. Eng.

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“…The problem of control dual arm robot becomes more complicated when the grasp  ISSN: 2302-9285 conditions are considered as constraints when designing the controllers. Research by Hacioglu et al [21], Nguyen and Vu [22] by using Coulomb law to model the frictional contact constraints, the dynamic model of a dual robot arm system has been developed. Then sliding mode control [21] and fuzzy sliding mode control [22] are applied to control the system.…”

Section: Introductionmentioning

confidence: 99%

“…Research by Hacioglu et al [21], Nguyen and Vu [22] by using Coulomb law to model the frictional contact constraints, the dynamic model of a dual robot arm system has been developed. Then sliding mode control [21] and fuzzy sliding mode control [22] are applied to control the system. However, in the research, the dual robot can only translate the object in parallel to an axis.…”

Section: Introductionmentioning

confidence: 99%

Fast terminal sliding mode control for dual arm manipulators

Chuyen

Nguyễn

2023

Bulletin EEI

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In this paper, present the recent advances in bimanual industrial manipulators have led to an increased interest in the specific problems pertaining to dual arm manipulation. This paper presents a control algorithm for dual arm robot that can move the object in a working plane both in translation and rotation ways. Different from other research that extend the control algorithms for a single robot to a dual arm robot because of fixed grasp assumption, this research has considered the frictional contact constraints to guarantee object grasping during moving of the object. Fast terminal sliding mode control (FTSMC) technique is used to design the controller and comparison to traditional and super-twisting sliding mode controls have been done. Simulations show the effectiveness and outperformance of the proposed control algorithm in comparison to considered sliding mode control techniques.

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“…In this work, the lift force of the electrical adhesion device exceeds the grip force of a human finger. The original design of the 5-finger grip [11], [12] has an anthropomorphic design, in which the fingers consist of separate phalanges, but each finger has a single drive for its phalanges. Therefore, the phalanges cannot work offline.…”

Section: Introductionmentioning

confidence: 99%

Design and modeling industrial intelligent robot flexible hand

et al. 2022

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The article describes a description of a fundamentally new design, mathematical model and experimental research of a flexible arm with an anthropomorphic gripper for an industrial robot. The advantage of the proposed design of the robot arm in comparison with the known traditional technical solutions is achieved as close as possible to the functions of the human arm. This property significantly increases the versatility of the robot arm when performing various technological operations. Another difference from the known models of industrial robots is the presence of an anthropomorphic gripping device in the flexible arm, which allows you to service products with different shapes and arbitrary coordinates in space. In addition, the article for the first time proposes a method for calculating the parameters of a new hand and experimental studies of its functioning, which will allow engineers in the field of robotics to create similar designs. The economic effect of the proposed design is that the implementation of the movements of the proposed robot arm does not require separate electromechanical drives for each joint of the kinematic chain of the manipulator. This effect significantly reduces the cost of a robot arm while expanding its technological capabilities.

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Super-twisting sliding mode based nonlinear control for planar dual arm robots

Cited by 5 publications

References 22 publications

Optimization of the Performances of a Two-Joint Robotic Arm using Sliding Mode Control

Optimization of the Performances of a Two-Joint Robotic Arm using Sliding Mode Control

Fast terminal sliding mode control for dual arm manipulators

Design and modeling industrial intelligent robot flexible hand

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