Naslov
A Reference Model and Variable-Structure Control of a Planar Robot

Autori
Krajči, Vesna ; Jurišica, Ladislav

Vrsta, podvrsta i kategorija rada
Sažeci sa skupova, sažetak, znanstveni

Izvornik
Proceedings of the 6th International Scientific-Technical Conference on Process Control 2004 / Mikulášek, Petr - Pardubice, 2004, 95-95

ISBN
8071946621

Skup
International Scientific-Technical Conference Process Control 2004

Mjesto i datum
Loučná nad Desnou, Češka Republika, 08.06.2004. - 11.06.2004

Vrsta sudjelovanja
Ostalo

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
variable-structure control, reference model, robot arm, simulation

Sažetak
A method of robot arm control by using a reference model and a variable-structure is presented. The sign function in the original variable-structure control law is replaced with a few different functions: a continuous, saturation and exponential function, all of them with a very thin boundary layer, because of chattering elimination and reduction of energy. These modified control methods are tested by computer simulations in C programming language in the case of moving the tool of a three-axis planar articulated electric driven robot arm. The computer simulations of control are performed by using realistic dynamic model of robot with viscous, dynamic and static joint and motor frictional forces. The results of simulations proved the similar efficiencies of all mentioned modified control methods.

Izvorni jezik
Engleski

Znanstvena područja
Matematika, Elektrotehnika, Računarstvo, Temeljne tehničke znanosti, Interdisciplinarne tehničke znanosti

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