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

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Abstract

In this study, a simple position synchronization control algorithm based on an integral sliding mode is developed for dual-arm 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.

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Authors and Affiliations

  1. Department of Electronics and Electrical Engineering, Indian Institute of Technology Guwahati, Guwahati, 781039, India

    Sumi Phukan & Chitralekha Mahanta

Authors
  1. Sumi Phukan
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  2. Chitralekha Mahanta
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Correspondence to Sumi Phukan.

Additional information

Sumi Phukan received the B. Eng. degree from Electrical and Electronics Engineering Department, NETES (North East Technical Education Society) Institute of Technology and Science Mirza, India in 2013. Currently, she is a Ph. D. degree candidate in Electronics and Electrical Engineering Department, Indian Institute of Technology Guwahati, India.

Her research interests include sliding mode control and controller design for robotic manipulators.

Chitralekha Mahanta received the Ph. D. degree in control from Indian Institute of Technology (IIT) Delhi, India in 2000. She joined as an assistant professor in Department of Electronics and Communication Engineering (ECE), IIT Guwahati, India in 2000. Since then, she has been involved in active research in the area of control theory and its applications. She has offered a variety of courses in undergraduate and post graduate studies in the field of control systems at IIT Guwahati, India. She has been a full time professor in Department of Electronics and Electrical Engineering (EEE), IIT Guwahati since April 2012, starting her research at IIT Guwahati, India in the field of intelligent control. Currently, she is involved in the areas of robust and adaptive control with applications in robotics and flight control. She is a senior member of IEEE and a fellow of the Institution of Electronics and Telecommunication Engineers (IETE).

Her research interests include control of nonlinear uncertain systems, sliding mode control of underactuated systems specific to humanoid robot arm, actuator failure tolerant control design for nonlinear systems with application in aircraft control.

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Phukan, S., Mahanta, C. A Position Synchronization Controller for Co-ordinated Links (COOL) Dual Robot Arm Based on Integral Sliding Mode: Design and Experimental Validation. Int. J. Autom. Comput. 18, 110–123 (2021). https://doi.org/10.1007/s11633-020-1242-3

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  • DOI: https://doi.org/10.1007/s11633-020-1242-3

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