A Position Synchronization Controller for Co-ordinated Links(COOL)Dual Robot Arm Based on Integral Sliding Mode:Design and Experimental Validation  

作　　者：Sumi Phukan Chitralekha Mahanta 

机构地区：[1]Department of Electronics and Electrical Engineering,Indian Institute of Technology Guwahati,Guwahati 781039,India

出　　处：《International Journal of Automation and computing》2021年第1期110-123,共14页国际自动化与计算杂志（英文版）

摘　　要：In this study,a simple position synchronization control algorithm based on an integral sliding mode is developed for dualarm robotic manipulator systems.A first-order sliding surface is designed using cross-coupling error in order to ensure position synchronization of dual-arm manipulators.The design objective of the proposed controller is to ensure stability as well as to synchronize the movement of both arms while maintaining the trajectory as desired.The integral sliding mode eliminates the reaching phase and guarantees robustness throughout the whole operating period.Additionally,a low pass filter is used to smoothen the discontinuous element and minimize unwanted chattering.Lyapunov stability theory is utilized to prove the asymptotic stability of the controlled system.Simulation studies are performed to validate the proposed controller′s effectiveness.Also,to investigate the possibility of realizing the proposed dynamic control method in practical applications,experiments are conducted on a 14DoF coordinated links(COOL)dual-arm robotic manipulator system.Experimental evidence indicates adequate efficiency in trajectory tracking and guarantees robustness in the presence of parametric uncertainty and external disturbance.

关 键 词：Integral sliding mode control position synchronization dual-arm robotic manipulator CHATTERING robust control 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]