Abstract
A motion control strategy for rigid robot manipulators based on sliding mode control techniques and the compensated inverse dynamics method is presented in this paper. The motivation for using sliding mode mainly relies on its appreciable features, such as simplicity and robustness versus matched uncertainties and disturbances. Furthermore the proposed approach avoids the estimation of the time-varying inertia matrix. As a preliminary step a first order sliding mode control law is presented. Then a second order strategy is discussed. In both cases the problem of chattering, typical of sliding mode control, is suitably circumvented. Simulations results demonstrates the good tracking properties of the proposed control strategy.
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Ferrara, A., Magnani, L. Motion Control of Rigid Robot Manipulators via First and Second Order Sliding Modes. J Intell Robot Syst 48, 23–36 (2007). https://doi.org/10.1007/s10846-006-9101-1
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DOI: https://doi.org/10.1007/s10846-006-9101-1