Control of Robot Manipulators with a Model for Backlash Nonlinearity in Gears
سال انتشار: 1396
نوع سند: مقاله کنفرانسی
زبان: انگلیسی
مشاهده: 484
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شناسه ملی سند علمی:
COMCONF05_555
تاریخ نمایه سازی: 21 اردیبهشت 1397
چکیده مقاله:
This paper presents a model for backlash nonlinearity in gears based on torque input-output equation. By combining the robot dynamic model with backlash, a stable sliding mode controller is developed and the asymptotic stability of the closed-loop system is shown using Lyapunov method and Barbalatʼs Lemma. The proposed method is produced no chattering in the control torques and the tracking performance is desirable. Effectiveness of the controller is verified by comparative studies with numerical simulation. Finally, experimental results are presented to demonstrate the efficiency and capability of the proposed controller in dealing with backlash nonlinearities in gears of a five-bar manipulator.
کلیدواژه ها:
نویسندگان
Soheil Ahangarian Abhari
Department of Control Engineering, Faculty of Electrical and Computer Engineering, University of Tabriz, Tabriz,Iran.
Farzad Hashemzadeh
Department of Control Engineering, Faculty of Electrical and Computer Engineering, University of Tabriz, Tabriz,Iran.
Mehdi Baradaran-nia
Department of Control Engineering, Faculty of Electrical and Computer Engineering, University of Tabriz, Tabriz,Iran.
Hamed Kharrati
Department of Control Engineering, Faculty of Electrical and Computer Engineering, University of Tabriz, Tabriz,Iran.