Modeling and sliding mode control of flexible link flexible joint Robot Manipulator

S. Suklabaidya, K. Lochan, B. K. Roy

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

This paper concerns with modeling and control of a single flexible link flexible joint robot manipulator (SFLFJM). Euler Lagrangian and assumed mode method is used for modeling the dynamics of the manipulator. The position control for SFLFJM using a sliding mode controller (SMC) is investigated. Using two types of SMC techniques, control law is designed such that the manipulator reached the desired position. Conventional SMC, Quasi-SMC are the two different types of SMC used. Chattering elimination is achieved using Quasi-SMC. Lyapunov stability is used for stability of sliding surfaces. The proposed design is validated using MATLAB/SIMULINK simulation results.

Original languageEnglish
Title of host publicationProceedings of the 2015 Conference on Advances In Robotics, AIR 2015
PublisherAssociation for Computing Machinery, Inc
ISBN (Electronic)9781450333566
DOIs
Publication statusPublished - 02-07-2015
Event2015 Conference on Advances In Robotics, AIR 2015 - Goa, India
Duration: 02-07-201504-07-2015

Publication series

NameACM International Conference Proceeding Series
Volume02-04-July-2015

Conference

Conference2015 Conference on Advances In Robotics, AIR 2015
CountryIndia
CityGoa
Period02-07-1504-07-15

All Science Journal Classification (ASJC) codes

  • Software
  • Human-Computer Interaction
  • Computer Vision and Pattern Recognition
  • Computer Networks and Communications

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  • Cite this

    Suklabaidya, S., Lochan, K., & Roy, B. K. (2015). Modeling and sliding mode control of flexible link flexible joint Robot Manipulator. In Proceedings of the 2015 Conference on Advances In Robotics, AIR 2015 [a59] (ACM International Conference Proceeding Series; Vol. 02-04-July-2015). Association for Computing Machinery, Inc. https://doi.org/10.1145/2783449.2783509