Dynamic analysis and sliding mode control method of 5-DOF manipulator

Abstract

Background: The five degree of freedom (5-DOF) manipulator greatly improves the machining efficiency and accuracy because of its high flexibility. They see wide application in various automation fields. The dynamic analysis and modeling of manipulators is of great significance to improve the working accuracy of a manipulator. Methods: For the robot task of sheet metal bending, a 5-DOF manipulator based on sliding mode control strategy is designed in this paper. Firstly, the dynamics of the 5-DOF manipulator is analyzed and the dynamic equation is established. Secondly, based on the principle of sliding mode control, a proportional integral (PI) sliding mode control method for 5-DOF manipulator based on nominal model is proposed. Finally, the sliding mode control simulation experiment of 5-DOF manipulator is carried out to verify its stability. Results: The 5-DOF manipulator with PI sliding mode control has a good control effect by overcoming the influence of modeling error due to its strong robustness, and effectively realizes good control stability. Conclusions: The experimental results show that the 5-DOF manipulator has good response speed and stability. The results also suggest that the manipulator can be widely used in complex scenarios such as medical surgery or industrial production line with high safety requirements.