Sliding Mode Robust Control of Robot （滑模鲁棒控制的机器人）.pdfVIP

World Applied Sciences Journal 6 (1): 70-76, 2009 ISSN 1818-4952 © IDOSI Publications, 2009 Sliding Mode Robust Control of Robot Manipulator in the Task Space by Support of Feedback Linearization and BackStepping Control M.R. Soltanpour and M.M. Fateh Shahrood University of Technology, P. Code: 3619995161, P.O. Box 316, Shahrood, Iran Abstract: A robust control approach is developed to control robot in the task space using sliding mode by support of feedback linearization control and backstepping method, in this study. The bounds of uncertainties applied in the sliding mode control are reduced by applying feedback linearization. This provides a robust control system with a less error. The back-stepping method is used to define a linear slip surface and providing uniform ultimate boundedness stability purpose. A case of study is carried out on a two link elbow robot driven by electrical motors. Key words: Manipulator • Uncertainty • Sliding mode control • Backstepping control • Feedback linearization • Task space INTRODUCTION joint-space. The joint positions are measured suitably by optical encoders while end-effector position may be Industrial robots are commonly controlled in joint detected using vision systems [2, 3]. space to perform position control [1]. In practice, for There is a challenge in robot control to overcome tracking a trajectory in task space, an industrial robot uncertainties, nonlinearities and couplings from follow a desired traje