Control of a Lightweight Flexible Robotic Arm Using Sliding Modes | Zendy

V. Etxebarria | Zendy; A. Sanz | Zendy; Ibone Lizarraga | Zendy

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Control of a Lightweight Flexible Robotic Arm Using Sliding Modes

Author(s) -

V. Etxebarria,

A. Sanz,

Ibone Lizarraga

Publication year - 2005

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 - 10.5772/5798

Subject(s) - computer science , control theory (sociology) , robotic arm , scheme (mathematics) , stability (learning theory) , sliding mode control , tracking (education) , robust control , dynamics (music) , control engineering , control (management) , control system , nonlinear system , artificial intelligence , engineering , mathematics , psychology , mathematical analysis , pedagogy , physics , quantum mechanics , machine learning , acoustics , electrical engineering

This paper presents a robust control scheme for flexible link robotic manipulators, which is based on considering the flexible mechanical structure as a system with slow (rigid) and fast (flexible) modes that can be controlled separately. The rigid dynamics is controlled by means of a robust sliding-mode approach with well-established stability properties while an LQR optimal design is adopted for the flexible dynamics. Experimental results show that this composite approach achieves good closed loop tracking properties both for the rigid and the flexible dynamics

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