Design and comparison of two control strategies for multi-DOF articulated robotic arm manipulator

ul Islam, Razaul; Iqbal, Jamshed; Khan, Qudrat

Abstract

This paper is aimed at mathematical modeling and design of a robust control strategy for a multi Degree Of Freedom (DOF) manipulator. A novel AUTonomous Articulated Robotic Educational Platform (AUTAREP), centered on a 6 DOF arm, is introduced in the research. Kinematic and dynamic models of the robotic arm have been derived. The kinematic model has been validated through simulation as well as experimentations on a prototype while the dynamic model has been demonstrated through mathematical formulation. Based on the system dynamics, Sliding Mode Controller (SMC) for the arm has been designed and tested for various trajectories to characterize its response. The tracking performance of the controller is then compared with another non-linear control strategy Computed Torque Control (CTC). Based on various performance indices, simulation results demonstrate superior performance of SMC over its CTC counterpart.

Citation

ul Islam, R., Iqbal, J., & Khan, Q. (2014). Design and comparison of two control strategies for multi-DOF articulated robotic arm manipulator. Journal of Control Engineering and Applied Informatics, 16(2), 28-39

• Journal Article Type: Article
• Acceptance Date: Dec 1, 2013
• Publication Date: Jan 1, 2014
• Deposit Date: Sep 14, 2021
• Publicly Available Date: Nov 5, 2021
• Journal: Journal of Control Engineering and Applied Informatics
• Print ISSN: 1454-8658
• Peer Reviewed: Peer Reviewed
• Volume: 16
• Issue: 2
• Pages: 28-39
• Keywords: Robot control; Nonlinear control; Robust control; Dynamic modeling; Robot kinematics; Robot arms; Industrial robots; Robotic manipulators
• Public URL: https://hull-repository.worktribe.com/output/3797176
• Publisher URL: http://www.ceai.srait.ro/index.php?journal=ceai&page=article&op=view&path%5B%5D=2000