Abstract
An approach to the dynamic modeling and sliding mode control of the constrained robot is proposed in this article. On the basis of the Udwadia–Kalaba approach, the explicit equation of the constrained robot system is obtained first. This equation is applicable to systems with either holonomic or non-holonomic constraints, as well as with either ideal or non-ideal constraint forces. Second, fully considering the uncertainty of the non-ideal force, that is, the dynamic friction in the constrained robot system, the sliding mode control algorithm is put forward to trajectory tracking of the end-effector on a vertical constrained surface to obtain actual values of the unknown constraint force. Moreover, model order reduction method is innovatively used in the Udwadia–Kalaba approach and sliding mode controller to reduce variables and simplify the complexity of the calculation. Based on the demonstration of this novel method, a detailed robot system example is finally presented.
Highlights
A constrained robot system is a typical mechanical system
Su et al.[12] used a sliding mode control algorithm in the constrained robot system, but the approach ignored the constraint force which is indispensable in practical application
Because the non-ideal constraint force is hardly calculated but only can be obtained by the experiment or the experience, the sliding mode control algorithm is developed for tracking the non-ideal force in the constrained robot system
Summary
A constrained robot system is a typical mechanical system. The control of this kind of system usually needs some dynamic equations. Keywords Constrained robot, Udwadia–Kalaba equation, sliding mode control, dynamic modeling, simulation Researchers have done much work to obtain the dynamic model and control of the constrained robot.
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