Khurram Ali (Author), Adeel Mehmood (Author), Israr Muhammad (Author), Sohail Razzaq (Author), Jamshed Iqbal (Author)

Abstract

Automation technology has been extensively recognized as an emerging field in various industrial applications. Recent breakthrough in flexible automation is primarily due to deployment of robotic arms or manipulators. Autonomy in these manipulators is essentially linked with the advancements in non-linear control systems. The objective of this research is to propose a robust control algorithm for a five degree of freedom (DOF) robotic arm to achieve superior performance and reliability in the presence of friction. A friction compensation-based non-linear control has been proposed and realized for the robotic manipulator. The dynamic model of the robot has been derived by considering the dynamic friction model. The proposed three-state model is validated for all the joints of the manipulator. The integral sliding mode control (ISMC) methodology has been designed; the trajectories of system every time begin from the sliding surface and it eliminates the reaching phase with assistance of integral term in the sliding surface manifold. The designed control law has been first simulated in Matlab/Simulink environment to characterize the control performance in terms of tracking of various trajectories. The results confirm the effectiveness of the proposed control law with model-based friction compensation. The transient parameters like settling and peak time have improvement as well have better results with friction than without considering the friction. The proposed control law is then realized on an in-house developed autonomous articulated robotic educational platform (AUTAREP) and NI myRIO hardware interfaced with LabVIEW. Experimental results also witnessed the trajectory tracking by the robotic platform.

Keywords

robotic manipulator;LuGre friction model;sliding mode control;

Data

Language: English
Year of publishing:
Typology: 1.01 - Original Scientific Article
Organization: UL FS - Faculty of Mechanical Engineering
UDC: 62-5:621.8
COBISS: 80482307 Link will open in a new window
ISSN: 0039-2480
Views: 228
Downloads: 38
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Other data

Secondary language: Slovenian
Secondary title: Upravljanje antropomorfnega manipulatorja z modelom trenja LuGre - zasnova in eksperimentalna validacija
Secondary keywords: regulacija drsnega režima;prostostna stopnja;model trenja LuGre;avtonomna zglobna robotska izobraževalna platforma;
Type (COBISS): Article
Pages: str. 401-410
Volume: ǂVol. ǂ67
Issue: ǂno. ǂ9
Chronology: Sep. 2021
DOI: 10.5545/sv-jme.2021.7258
ID: 13700556