Due to an increasing variety of tasks in production systems, the programming of robots becomes more complex. The aim of this work is, therefore, to simplify the work involved in programming of different contours as much as possible. Instead of specifying individual points of a contour in code, only one start and one end position are given. The movement between the two points is changed in real time by a robust control scheme, thus simplifying the programming effort for different contours. In this work, the robot is considered as a black box system and the approach to control consists only of considering the error of position and velocity without model. In the presented case, the development of the controller has shown that an Integral Sliding Mode Control (ISMC) strategy does not provide the desired control quality because of the presence of unavoidable saturating actuators in robots. Furthermore, a better result could be achieved with a Sliding Mode Control (SMC) approach that switches between two predefined surfaces. With this approach, good dynamic performances are obtained, in particular, in terms of overshoot which proves to be drastically reduced. Validations of the proposed method are obtained using real measurements realized on an industrial robot.
Sliding Mode Control Robots Trajectory control Applications
This is a preview of subscription content, log in to check access.
Chang, W.: Hybrid force and vision-based contour following of planar robots. J. Intell. Rob. Syst. 3(47), 215–237 (2006)CrossRefGoogle Scholar
Mercorelli, P.: An anti-saturating adaptive preaction and a slide surface to achieve soft landing control for electromagnetic actuators. IEEE/ASME Trans. Mechatron. 17(1), 76–85 (2012)CrossRefGoogle Scholar
Su, Y., Zheng, C., Mercorelli, P.: Global finite-time stabilization of planar linear systems with actuator saturation. IEEE Trans. Circuits Syst. II Express Briefs 64(8), 947–951 (2017)CrossRefGoogle Scholar
Su, Y., Zheng, C., Mercorelli, P.: Robust approximate fixed-time tracking control for uncertain robot manipulators. Mech. Syst. Signal Process. 135, 106379 (2020)CrossRefGoogle Scholar
Xian, B., Dawson, D.M., de Queiroz, M.S., Chen, J.: A continuous asymptotic tracking control strategy for uncertain nonlinear systems. IEEE Trans. Autom. Control 49(7), 1206–1211 (2004)MathSciNetCrossRefGoogle Scholar
Zheng, C., Su, Y., Mercorelli, P.: Simple relay non-linear PD control for faster and high-precision motion systems with friction. IET Control Theory Appl. 12(17), 2302–2308 (2018)MathSciNetCrossRefGoogle Scholar
Zheng, C., Su, Y., Mercorelli, P.: Faster positioning of one degree-of-freedom mechanical systems with friction and actuator saturation. J. Dyn. Syst. Meas. Control Trans. ASME 141(6), DS-17-1558 (2019). https://doi.org/10.1115/1.4042883
Zheng, C., Su, Y., Mercorelli, P.: A simple nonlinear PD control for faster and high-precision positioning of servomechanisms with actuator saturation. Mech. Syst. Signal Process. 121, 215–226 (2019)CrossRefGoogle Scholar