Modeling and sliding mode control of flexible link flexible joint Robot Manipulator

S. Suklabaidya; K. Lochan; B. K. Roy

doi:10.1145/2783449.2783509

Modeling and sliding mode control of flexible link flexible joint Robot Manipulator

S. Suklabaidya, K. Lochan, B. K. Roy

Department of Mechatronics Engineering, Manipal Institute of Technology, Manipal

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

5 Citations (Scopus)

Abstract

This paper concerns with modeling and control of a single flexible link flexible joint robot manipulator (SFLFJM). Euler Lagrangian and assumed mode method is used for modeling the dynamics of the manipulator. The position control for SFLFJM using a sliding mode controller (SMC) is investigated. Using two types of SMC techniques, control law is designed such that the manipulator reached the desired position. Conventional SMC, Quasi-SMC are the two different types of SMC used. Chattering elimination is achieved using Quasi-SMC. Lyapunov stability is used for stability of sliding surfaces. The proposed design is validated using MATLAB/SIMULINK simulation results.

Original language	English
Title of host publication	Proceedings of the 2015 Conference on Advances In Robotics, AIR 2015
Publisher	Association for Computing Machinery, Inc
ISBN (Electronic)	9781450333566
DOIs	https://doi.org/10.1145/2783449.2783509
Publication status	Published - 02-07-2015
Event	2015 Conference on Advances In Robotics, AIR 2015 - Goa, India Duration: 02-07-2015 → 04-07-2015

Publication series

Name	ACM International Conference Proceeding Series
Volume	02-04-July-2015

Conference

Conference	2015 Conference on Advances In Robotics, AIR 2015
Country/Territory	India
City	Goa
Period	02-07-15 → 04-07-15

All Science Journal Classification (ASJC) codes

Software
Human-Computer Interaction
Computer Vision and Pattern Recognition
Computer Networks and Communications

Access to Document

10.1145/2783449.2783509

Cite this

@inproceedings{755f6647906647989894abc216c0ffcd,

title = "Modeling and sliding mode control of flexible link flexible joint Robot Manipulator",

abstract = "This paper concerns with modeling and control of a single flexible link flexible joint robot manipulator (SFLFJM). Euler Lagrangian and assumed mode method is used for modeling the dynamics of the manipulator. The position control for SFLFJM using a sliding mode controller (SMC) is investigated. Using two types of SMC techniques, control law is designed such that the manipulator reached the desired position. Conventional SMC, Quasi-SMC are the two different types of SMC used. Chattering elimination is achieved using Quasi-SMC. Lyapunov stability is used for stability of sliding surfaces. The proposed design is validated using MATLAB/SIMULINK simulation results.",

author = "S. Suklabaidya and K. Lochan and Roy, {B. K.}",

year = "2015",

month = jul,

day = "2",

doi = "10.1145/2783449.2783509",

language = "English",

series = "ACM International Conference Proceeding Series",

publisher = "Association for Computing Machinery, Inc",

booktitle = "Proceedings of the 2015 Conference on Advances In Robotics, AIR 2015",

note = "2015 Conference on Advances In Robotics, AIR 2015 ; Conference date: 02-07-2015 Through 04-07-2015",

}

Suklabaidya, S, Lochan, K & Roy, BK 2015, Modeling and sliding mode control of flexible link flexible joint Robot Manipulator. in Proceedings of the 2015 Conference on Advances In Robotics, AIR 2015., a59, ACM International Conference Proceeding Series, vol. 02-04-July-2015, Association for Computing Machinery, Inc, 2015 Conference on Advances In Robotics, AIR 2015, Goa, India, 02-07-15. https://doi.org/10.1145/2783449.2783509

Modeling and sliding mode control of flexible link flexible joint Robot Manipulator. / Suklabaidya, S.; Lochan, K.; Roy, B. K.
Proceedings of the 2015 Conference on Advances In Robotics, AIR 2015. Association for Computing Machinery, Inc, 2015. a59 (ACM International Conference Proceeding Series; Vol. 02-04-July-2015).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

TY - GEN

T1 - Modeling and sliding mode control of flexible link flexible joint Robot Manipulator

AU - Suklabaidya, S.

AU - Lochan, K.

AU - Roy, B. K.

PY - 2015/7/2

Y1 - 2015/7/2

N2 - This paper concerns with modeling and control of a single flexible link flexible joint robot manipulator (SFLFJM). Euler Lagrangian and assumed mode method is used for modeling the dynamics of the manipulator. The position control for SFLFJM using a sliding mode controller (SMC) is investigated. Using two types of SMC techniques, control law is designed such that the manipulator reached the desired position. Conventional SMC, Quasi-SMC are the two different types of SMC used. Chattering elimination is achieved using Quasi-SMC. Lyapunov stability is used for stability of sliding surfaces. The proposed design is validated using MATLAB/SIMULINK simulation results.

AB - This paper concerns with modeling and control of a single flexible link flexible joint robot manipulator (SFLFJM). Euler Lagrangian and assumed mode method is used for modeling the dynamics of the manipulator. The position control for SFLFJM using a sliding mode controller (SMC) is investigated. Using two types of SMC techniques, control law is designed such that the manipulator reached the desired position. Conventional SMC, Quasi-SMC are the two different types of SMC used. Chattering elimination is achieved using Quasi-SMC. Lyapunov stability is used for stability of sliding surfaces. The proposed design is validated using MATLAB/SIMULINK simulation results.

UR - http://www.scopus.com/inward/record.url?scp=84959311764&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84959311764&partnerID=8YFLogxK

U2 - 10.1145/2783449.2783509

DO - 10.1145/2783449.2783509

M3 - Conference contribution

AN - SCOPUS:84959311764

T3 - ACM International Conference Proceeding Series

BT - Proceedings of the 2015 Conference on Advances In Robotics, AIR 2015

PB - Association for Computing Machinery, Inc

T2 - 2015 Conference on Advances In Robotics, AIR 2015

Y2 - 2 July 2015 through 4 July 2015

ER -

Modeling and sliding mode control of flexible link flexible joint Robot Manipulator

Abstract

Publication series

Conference

All Science Journal Classification (ASJC) codes

Access to Document

Other files and links

Fingerprint

Cite this