Open AccessThe Dynamics and Sliding Mode Control of Multiple Cooperative Welding Robot Manipulators
Author(s) -
Bin Zi,
Huihui Sun,
Zhencai Zhu,
Shengsheng Qian
Publication year - 2012
Publication title -
international journal of advanced robotic systems
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.394
H-Index - 46
eISSN - 1729-8814
pISSN - 1729-8806
DOI - 10.5772/50641
Subject(s) - control theory (sociology) , computer science , terminal sliding mode , lyapunov function , sliding mode control , controller (irrigation) , kinematics , nonlinear system , correctness , robot welding , control engineering , robot , control (management) , artificial intelligence , engineering , physics , classical mechanics , quantum mechanics , agronomy , biology , programming language
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