Electric Motor Controller for a Robotics Application
Keywords:
Manipulator robot, DC motor, Sliding mode control, Nonlinear decoupled control.
Abstract
In this work, we are interested in the study of a number of electric motors inserted in a robotic chain. The study will be carried out in particular for the DC motor designed to drive a manipulator robot with two degrees of freedom. Thus, after modeling the robot assembly equipped with the machines, and developing the control algorithms, we simulate the control of this manipulator robot. After having obtained the simulation results, and to confirm the capacity of the chosen control of the system studied, a robustness test was carried out and the results are very satisfied.
References
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[13] F. Harashima, al., “Practical robust control of robot arm using variable structure system,” Proceedings. 1986 IEEE International Conference on Robotics and Automation, vol. 3, pp. 532-539, 1986
[14] S M Othman, M. F. Rahmat, S. M. Rozali, Zulfatman Has, A. F. Z. Abidin’ Optimization of Modified Sliding Mode Controller for an Electro-hydraulic Actuator System with Mismatched Disturbance’ International Journal of Electrical and Computer Engineering (IJECE) Vol 8, No 4: August 2018.
[2] A. H Niasar, E. B Kashani, “Implementation of A Novel Brushless DC motor Drive Based on One-Cycle Control Strategy” IJEEE Volume 10, Issue 3 (9-2014)
[3] K. Lochan and B K. Roy “Control of two-link 2-dof robot manipulator using fuzzy logic techniques: a review” 4th International Conference on Soft Computing for Problem Solving, Springer, India, 499-511, 2015.
[4] N Nikdel, P Nikdel, M A Badamchizadeh, I. Hassanzadeh “Using neural network model predictive control for controlling shape memory alloy-based manipulator” IEEE Trans. Industrial Electronics, vol. 61, no. 3 1394-1401, 2014.
[5] O Bakhtafrouz, M R Zakerzadeh “Motion Path Planning Optimization of a Robot with 4 Degrees
of Freedom Using Genetic Algorithm” Majlesi
Journal of Mechatronic Systems Vol 4 No 2 (2015): June
[6] M H Kooshki “Path Planning for a Continuous Robot Using Soft Computing Methods” Majlesi Journal of Mechatronic Systems Vol 4 No 2 (2015): June Vol 3 No 3 (2014): September
[7] S Neppalli , B A. Jones, "Design, Construction, and Analysis of a Continuum Robot" in Proceedings of the International Conference on Intelligent Robots and
Systems, San Diego, CA, USA, , 1503-1507, 2007.
[8] B A. Jones, I.D Walker, "Kinematics for Multisection Continuum Robots" IEEE Transactions on Robotics, Vol.22, pp. 43-55, Feb. 2006.
[9] A Babaei, A Nikranjbar” Adaptive Fuzzy Control of Uncertain (P-R) Robot Manipulator using Lyapunov Method Compared to RLSE” Majlesi Journal of Mechatronic Systems Vol 1 No 1 (2012): March
[10] S Ueki, H Kawasaki, al. “Development of a hand-assist robot with multi-degrees-of-freedom for rehabilitation therapy” IEEE Trans. Mechatronics vol. 17 no. 1 pp 136-146, 2012.
[11] T-T Nguyen” Sliding mode control-based system for the two-link robot arm” International Journal of Electrical and Computer Engineering (IJECE) Vol. 9, No. 4, August 2019, pp. 2771~2778
[12] M. R. Soltanpour and M. M. Fateh, “Sliding mode robust control of robot manipulator in the task space by support of Feedback Linearization and Back Stepping Control,” World Applied Sciences Journal, vol/issue: 6(1), pp. 70-76, 2009
[13] F. Harashima, al., “Practical robust control of robot arm using variable structure system,” Proceedings. 1986 IEEE International Conference on Robotics and Automation, vol. 3, pp. 532-539, 1986
[14] S M Othman, M. F. Rahmat, S. M. Rozali, Zulfatman Has, A. F. Z. Abidin’ Optimization of Modified Sliding Mode Controller for an Electro-hydraulic Actuator System with Mismatched Disturbance’ International Journal of Electrical and Computer Engineering (IJECE) Vol 8, No 4: August 2018.
Published
2021-03-01
How to Cite
Khati, A. (2021). Electric Motor Controller for a Robotics Application. Majlesi Journal of Mechatronic Systems, 10(1), 1-8. Retrieved from https://ms.majlesi.info/index.php/ms/article/view/464
Section
Articles
