An Adaptive Sliding Mode Control for Trajectory Tracking of a Self-reconfigurable Robotic System

Abstract

This paper presents the development of the model, dynamics and an adaptive sliding mode control of new self-reconfigurable robotic systems. These robotic systems combine as many properties of different open kinematic structures as possible and can be used for a variety of applications. The kinematic design parameters, i.e., their Denavit-Hartenberg (D-H) parameters, can be modified to satisfy any configuration required to meet a specific task. By varying the joint twist angle parameter (configuration parameter), the presented model is reconfigurable to any desired open kinematic structure, such as Fanuc, ABB and SCARA robotic systems. The joint angle and the offset distance of the D-H parameters are also modeled as variable parameters (reconfigurable joint). The resulting self-reconfigurable robotic system hence encompasses different kinematic structures and has a reconfigurable joint to accommodate any required application in medical, space, future manufacturing systems, etc. Automatic model generation of a 3-DOF reconfigurable robotic system is constructed and demonstrated as a case study which covers all possible open kinematic structures. An adaptive controller is developed based on the sliding mode approach for a 3-DOF self-reconfigurable robotic system to achieve high tracking performance. This research is intended to serve as a foundation for future studies in reconfigurable control systems.