Abstract
The performance of a robotic arm includes accuracy, repeatability and reliability to accomplish a task. These parameters, in turn, are function of associated control law. Multi-Degree Of Freedom (DOF) robotic arms, because of their inherent highly non-linear dynamics, demand sophisticated control laws. Trivial control strategies fail to cope with disturbances and uncertainties that are common in today’s plants. This paper presents the design, simulation and physical implementation of a non-linear control technique Variable Structure Control (VSC) for a 6 DOF arm. Based on the derived dynamic model of the arm and designed control law, simulations have been conducted in MATLAB/Simulink. The controller parameters have been tuned for optimal response. Various desired trajectories characterize the tracking performance of the control law. The simulation results have been then validated by implementing the law on a custom-developed novel AUTonomous Articulated Robotic Educational Platform (AUTAREP). Coupling effects between various joints of the robot have also been investigated. Results of this research find potential in industrial control of robotic manipulators to perform complex tasks. DOI: http://dx.doi.org/10.5755/j01.eee.22.1.14094
Highlights
Robots are machines developed to perform a task automatically or by following the instructions through remote control
Jingmei et al [20] have developed an approach for improving performance of the robotic arm by combining PID, adaptive fast method and Variable Structure Control (VSC) approach
The controller governing equation is represented with the first function ‘VSC_cont’ while derived dynamic model of the plant in [23] is coded in the second function ‘AUTAREP_plant’
Summary
Robots are machines developed to perform a task automatically or by following the instructions through remote control. The main challenge in the motion control of rigid manipulators is the complexity of their dynamics and uncertainties, which result from nonlinearities and coupling in the robotic manipulators Based on this knowledge, controller design becomes a challenging task. Scientific literature reports various linear as well as nonlinear control strategies for multi-Degree Of Freedom (DOF) robotic manipulators. Jingmei et al [20] have developed an approach for improving performance of the robotic arm by combining PID, adaptive fast method and Variable Structure Control (VSC) approach. The aforementioned and most of the reported literature on modern control techniques for multi-DOF robotic arms is limited to software simulations. The proposed work presents details for software as well as hardware implementation of VSC control law for a 6 DOF arm.
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