tailieunhanh - Backstepping – sliding mode control for dual arm robot

This paper presents a Backstepping-Sliding Mode Control for dual arm robot in handling, transporting a payload to track a desired trajectory. The control law is based on Backstepping and Sliding mode control technique and Lyapunov theory. A numerical simulation was used to verify the performance and robustness of the controller | Research BACKSTEPPING - SLIDING MODE CONTROL FOR DUAL ARM ROBOT Nguyen Duc Hiep1 Pham Duc Tuan1 Vu Quoc Doanh1 Bui Van Dan2 Le Xuan Hai1 Abstract This paper presents a Backstepping-Sliding Mode Control for dual arm robot in handling transporting a payload to track a desired trajectory. The control law is based on Backstepping and Sliding mode control technique and Lyapunov theory. A numerical simulation was used to verify the performance and robustness of the controller. Keywords Dual arm robot Sliding mode control Backstepping. 1. INTRODUCTION Dual arm robot DAR has an extensively application in a wide area of human life. In industrial environment DAR are able to replace human worker in transferring and assembling devices and component because of ability on handle large object with high precision and reliability with less torque actuator requirement. Moreover many robot systems with dual arm manipulator are increasingly investigated and specially used in hazardous environment that human are not able to approach and work. However applying DAR often have to face with complicated physical analysis and complex controller 1 caused by closed chain system s kinematic 2 . Many researchers have recently considered and investigated about DAR various attempts for control of DAR has been proposed and applied 3-8 . Uchiyama et al. 3 applied the hybrid scheme to the two-arm robot after introducing a unique joint space vector consisting of joint-vectors of the two arms. Laroussi et al. 4 derived the constraint forces as function of input and state the inverse plant method and computation of the constraint forces were used to coordinate the control of the system. Lin and Huang 5 presented an adaptable fuzzy force control scheme to improve the performance of a dual industrial robotic system then tuned the scaling factor of the fuzzy logic controller. X. Yun and V. Kumar 6 proposed a nonlinear feedback techniques derived from differential geometry is then applied to linearize and .

• Tự động hoá
• Dual arm robot
• Sliding mode control
• Backstepping Sliding Mode Control
• Lyapunov theory
• Degrees of freedom
• Vietnam Journal of Mechanics
• Higher order stochastic averaging method
• Mechanical systems having two degrees of freedom
• Mechanical systems having two degrees
• The Fokker Planck
• Two degree of freedom systems
• Journal of Mechanics
• Stability of the equilibrium regime
• System of two degrees of freedom
• Amplitude phase variables
• Two degrees of freedom
• Hans Kauderers method
• On the transition from regular to chaotic behaviors
• The two degrees of freedom dynamical system
• The Lagrange equations
• Freedom dynamical system
• An optimal state feedback controller
• Degrees of freedom rigid rotor
• Active Magnetic Bearing
• Linear Quadratic Regulator
• The control system
• The performance objectives
• Parametric vibration of mechanical system
• Several degrees of freedom
• The action of electromagnetic force
• The elastic elements
• The vibrating system
• The influence of nonlinear terms in mechanical systems
• Predict approximately the response of the systems
• The higher order stochastic averaging method
• On the interaction between forced
• Parametric oscillations in a system
• The resonance curve
• On a bending problem of thick laminated composite plates
• Thick laminated composite plates
• Twelve degrees of freedom per node
• Finite element solutions
• Chi square distribution
• Geometric random sums
• Weak limit theorems
• Established via asymptotic behaviors
• Central limit theorem
• Quantum impurity system
• Time dependent spectral function
• Parallel computing
• The corresponding time evolution
• Lecture Basic Statistics
• Bài giảng Thống kê cơ bản
• The t statistic
• The estimated standard error
• The t distribution