Abstract
Implementation of a sliding mode control algorithm for the high speed/high precision SCARA robot has been demonstrated, Since nonlinear dynamics have undesirable effects on the high speed operations, the inaccurate modelling of the robot system degrades the performance. Instead of trying to obtain the exact dynamics of a manipulator and servo systems, the nonlinear dynamics, i.e., nonlinear inertia terms, Coriolis force term and centrifugal force term are treated as disturbance and a sliding mode control algorithm is derived to compensate for the modelling imprecision and disturbance. The algorithm is directly derived from the sliding condition, and it represents the control input explicitly by relating to the nonlinear terms. To evaluate performance of the proposed algorithm, a control system for SCARA robot has been designed using two TMS320C25 DSP’s and a host computer. Some preliminary results are shown.
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