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Improving tracking performance of industrial SCARA robots using a new sliding mode control algorithm

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Abstract

This paper addresses the implementation of a new sliding mode control algorithm for high speed and high precision tasks, which is robust against variations in the robot parameters and load. The effects of nonlinear dynamics, which are difficult to model accurately, become prominent in high speed operations. This paper attempts to treat the nonlinear dynamics of a SCARA robot as a disturbance. Based upon this approach, a new sliding mode control algorithm is proposed, in which a switching control input can be obtained easily and is determined to satisfy the existence condition for sliding mode control. A graphic simulator is used to evaluate the proposed algorithm for a SCARA robot. Simulation results show that the proposed algorithm is robust against disturbances and can reduce the magnitude of chattering, which is an unavoidable problem in sliding mode control. Experiments are carried out to validate the simulated results with an industrial SCARA robot using DSPs.

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Lee, M., Son, K. & Lee, J. Improving tracking performance of industrial SCARA robots using a new sliding mode control algorithm. KSME International Journal 12, 761–772 (1998). https://doi.org/10.1007/BF02945543

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Key Words

  • Sliding Mode Control
  • SCARA Robot
  • Digital Signal Processor
  • Signal Compression Method
  • Trajectory Control