Application of Robust Discontinuous Control Algorithm for a 5-DOF Industrial Robotic Manipulator in real-time

Abstract

Robotic manipulators are nonlinear systems that are extensively used in industrial applications to perform many complex and specialized tasks which requires high precision and accurate trajectory tracking. This paper proposes the real-time implementation of a Robust Discontinuous Controller Algorithm to achieve trajectory tracking for a 5 degrees of freedom (DOF) robotic manipulator in a fast and accurate form with low chattering on the joint motors even under uncertainty and disturbance conditions. The trajectory design is developed by a fifth-order polynomial which ensures that robotic manipulator reaches the final desired position in a smooth way and enables to specify the endpoint positions, speeds and accelerations for each joint. A Lyapunov analysis is performed to guarantee system stability with the proposed controller algorithm. To verify the effectiveness of the proposed controller algorithm some simulations in Simulink ${}^{{\circledR }}$ environment are presented in comparison with a PD controller which is widely used for control of industrial robotic manipulators. Real time experimental results in a robotic manipulator CRS Catalyst-5 by Thermo Electron ®; are presented to support the simulation results and prove the effectiveness of the proposed controller.