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The Dynamics and Sliding Mode Control of Multiple Cooperative Welding Robot Manipulators
- Source :
- International Journal of Advanced Robotic Systems, Vol 9 (2012)
- Publication Year :
- 2012
- Publisher :
- SAGE Publishing, 2012.
-
Abstract
- This paper deals with the design, dynamic modelling and sliding mode control of multiple cooperative welding robot manipulators (MWRMs). The MWRMs can handle complex tasks that are difficult or even impossible for a single manipulator. The kinematics and dynamics of the MWRMs are studied on the basis of the Denavit-Hartenberg and Lagrange method. Following that, considering the MWRM system with nonlinear and unknown disturbances, a non-singular terminal sliding mode control strategy is designed. By means of the Lyapunov function, the stability of the controller is proved. Simulation results indicate that the good control performance of the MWRMs is achieved by the non-singular terminal sliding mode controller, which also illustrates the correctness of the dynamic modelling and effectiveness of the proposed control strategy.
- Subjects :
- Electronics
TK7800-8360
Electronic computers. Computer science
QA75.5-76.95
Subjects
Details
- Language :
- English
- ISSN :
- 17298814
- Volume :
- 9
- Database :
- Directory of Open Access Journals
- Journal :
- International Journal of Advanced Robotic Systems
- Publication Type :
- Academic Journal
- Accession number :
- edsdoj.2dd50d88cf904131ad5eb56db35c53af
- Document Type :
- article
- Full Text :
- https://doi.org/10.5772/50641