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Titolo:
Design of a fuzzy-sliding mode controller for a SCARA robot to reduce chattering
Autore:
Go, SJ; Lee, MC;
Indirizzi:
Pusan Natl Univ, Sch Mech Engn, Pusan 609735, South Korea Pusan Natl UnivPusan South Korea 609735 Engn, Pusan 609735, South Korea Dongeui Inst Technol, Dept Machine Syst, Pusan, South Korea Dongeui Inst Technol Pusan South Korea Machine Syst, Pusan, South Korea
Titolo Testata:
KSME INTERNATIONAL JOURNAL
fascicolo: 3, volume: 15, anno: 2001,
pagine: 339 - 350
SICI:
1226-4865(200103)15:3<339:DOAFMC>2.0.ZU;2-A
Fonte:
ISI
Lingua:
ENG
Soggetto:
MANIPULATOR;
Keywords:
sliding mode control; chattering; dead zones; fuzzy rules; fuzzy-sliding mode control; SCARA robot;
Tipo documento:
Article
Natura:
Periodico
Settore Disciplinare:
Engineering, Computing & Technology
Citazioni:
17
Recensione:
Indirizzi per estratti:
Indirizzo: Lee, MC Pusan Natl Univ, Sch Mech Engn, 30 Jangjeon Dong, Pusan 609735, South Korea Pusan Natl Univ 30 Jangjeon Dong Pusan South Korea 609735 h Korea
Citazione:
S.J. Go e M.C. Lee, "Design of a fuzzy-sliding mode controller for a SCARA robot to reduce chattering", KSME INT J, 15(3), 2001, pp. 339-350

Abstract

To overcome problems in tracking error related to the unmodeled dynamics in the high speed operation of industrial robots, many researchers have usedsliding mode control, which is robust against parameter variations and payload changes. However, these algorithms cannot reduce the inherent chattering which is caused by excessive switching inputs around the sliding surface. This study proposes a fuzzy-sliding mode control algorithm to reduce the chattering of the sliding mode control by fuzzy rules within a pre-determined dead zone. Trajectory tracking simulations and experiments show that chattering can be reduced prominently by the fuzzy-sliding mode control algorithm compared to a sliding mode control with two dead zones, and the proposed control algorithm is robust to changes in payload. The proposed control algorithm is implemented to the SCARA (selected compliance articulated robotassembly) robot using a DSP (digital signal processor) for high speed calculations.

ASDD Area Sistemi Dipartimentali e Documentali, Università di Bologna, Catalogo delle riviste ed altri periodici
Documento generato il 14/07/20 alle ore 03:36:26