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Dynamic analysis, simulation, and control of a 6-DOF IRB-120 robot manipulator using sliding mode control and boundary layer method

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Journal of Central South University 2018年第9期25卷 2219-2244页

作者： Mojtaba HADI BARHAGHTALAB Vahid MEIGOLI Mohammad Reza GOLBAHAR HAGHIGHI Seyyed Ahmad NAYERI Arash EBRAHIMI Department of Electrical Engineering School of Engineering Persian Gulf University Department of Mechanical Engineering School of Engineering Persian Gulf University Department of Communication School of Electrical and Computer Engineering Tehran University Institute of Electrical Power Engineering Faculty of Computer Science and Electrical Engineering IEFRostock University

Because of its ease of implementation,a linear PID controller is generally used to control robotic *** controllers cannot effectively cope with uncertainties and variations in the parameters;therefore,nonlinear controllers with robust performance which can cope with these are *** sliding mode control(SMC)is a robust state feedback control method for nonlinear systems that,in addition having a simple design,efficiently overcomes uncertainties and disturbances in the *** also has a very fast transient response that is desirable when controlling robotic *** most critical drawback to SMC is chattering in the control input *** solve this problem,in this study,SMC is used with a boundary layer(SMCBL)to eliminate the chattering and improve the performance of the *** proposed SMCBL was compared with inverse dynamic control(IDC),a conventional nonlinear control *** kinematic and dynamic equations of the IRB-120 robot manipulator were initially extracted completely and accurately,and then the control of the robot manipulator using SMC was *** validation,the proposed control method was implemented on a 6-DOF IRB-120 robot manipulator in the presence of *** results were simulated,tested,and compared in the MATLAB/Simulink *** further validate our work,the results were tested and confirmed experimentally on an actual IRB-120 robot manipulator.

关键词： robot manipulator control IRB-120 robot sliding mode control sliding mode control with boundary layer inverse dynamic control

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