The Dynamics and Sliding Mode Control of Multiple Cooperative Welding Robot Manipulators

Bin Zi,Huihui Sun,Sen Qian,Zhencai Zhu

doi:10.5772/50641

Abstract

This paper deals with the design, dynamic modelling and sliding mode control of multiple cooperative welding robot manipulators (MWRMs). The MWRMs can handle complex tasks that are difficult or even impossible for a single manipulator. The kinematics and dynamics of the MWRMs are studied on the basis of the Denavit-Hartenberg and Lagrange method. Following that, considering the MWRM system with nonlinear and unknown disturbances, a non-singular terminal sliding mode control strategy is designed. By means of the Lyapunov function, the stability of the controller is proved. Simulation results indicate that the good control performance of the MWRMs is achieved by the non-singular terminal sliding mode controller, which also illustrates the correctness of the dynamic modelling and effectiveness of the proposed control strategy.

Highlights

Over the last few decades, welding robot manipulators (WRMs) have been extensively studied [1,2,3,4]
In view of the nonlinear, payload variation and external disturbances of the multiple cooperative welding robot manipulators (MWRMs) system, a non‐singular terminal sliding mode control strategy is designed for the high‐precision tracking of the MWRM control system
This paper has presented the design model of the MWRMs, which combines WRMs with the multiple robot manipulators

Summary

Introduction

Over the last few decades, welding robot manipulators (WRMs) have been extensively studied [1,2,3,4]. Multiple robot manipulators can handle complex tasks that are difficult or even impossible for a single manipulator In this investigation, multiple cooperative welding robot manipulators (MWRMs), which combine WRMs with the multiple robot manipulators, are presented. It is of interest to investigate the control of MWRMs. Sliding mode control has been studied extensively for over 50 years and is widely used in practical applications due to its simplicity and robustness against parameter variations and disturbances [20,21,22,23]. In view of the nonlinear, payload variation and external disturbances of the MWRM system, a non‐singular terminal sliding mode control strategy is designed for the high‐precision tracking of the MWRM control system.

System description

Kinematics of the MWRMs

Dynamic model of the MWRMs

Non‐singular terminal sliding mode controller design

Results and discussion

Conclusion