Comparative Study between Two Important Nonlinear Methodologies for Continuum Robot Manipulator Control

Abstract

This research focuses on the basic concepts of continuum robot manipulator and control methodology. OCTARM Continuum robot manipulator is a 6 DOF serial robot manipulator. From the control point of view, robot manipulator divides into two main parts i.e. kinematics and dynamic parts. The dynamic parameters of this system are highly nonlinear. To control of this system nonlinear control methodology (computed torque controller and sliding mode controller) is introduced. Computed torque controller (CTC) is an influential nonlinear controller to certain systems which it is based on feedback linearization and computes the required arm torques using the nonlinear feedback control law. When all dynamic and physical parameters are known computed torque controller works superbly; practically a large amount of systems have uncertainties and sliding mode controller reduce this kind of limitation. Sliding mode controller (SMC) is a significant nonlinear controller under condition of partly uncertain dynamic parameters of system. This controller is used to control of highly nonlinear systems especially for robot manipulators, because this controller is a robust and stable. Comparative study between computed torque controller and sliding mode controller is introduced in this research.