Control of A 2 D.O.F direct drive robot arm using integral sliding mode control
High accuracy trajectory tracking is a very challenging topic in direct drive robot control. This is due to the nonlinearities and input couplings present in the dynamics of the robot arm. This thesis is concerned with the problems of modelling and control of a 2 degree of freedom direct drive...
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2004
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my-uthm-ep.79082022-10-17T06:23:48Z Control of A 2 D.O.F direct drive robot arm using integral sliding mode control 2004-10 KSM Kader Ibrahim, Babul Salam TJ Mechanical engineering and machinery TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General) High accuracy trajectory tracking is a very challenging topic in direct drive robot control. This is due to the nonlinearities and input couplings present in the dynamics of the robot arm. This thesis is concerned with the problems of modelling and control of a 2 degree of freedom direct drive arm. The research work is undertaken in the following five developmental stages; Firstly, the complete mathematical model of a 2 DOF direct drive robot arm including the dynamics of the brushless DC motors actuators in the state variable form is to be developed. In the second stage, the state variable model is to be decomposed into an uncertain model. Then, the Integral Sliding Mode Controller is applied to the robot arm. In the forth stage, perform the simulation. This is done through the simulation on the digital computer using MATLAB/SIMULINK as the platform. Lastly, the performance of Integral Sliding Mode Controller is to be compared with an Independent Joint Linear Control. 2004-10 Thesis http://eprints.uthm.edu.my/7908/ http://eprints.uthm.edu.my/7908/1/24p%20BABUL%20SALAM%20KSM%20KADER%20IBRAHIM.pdf text en public mphil masters Universiti Teknologi Malaysia Fakulti Kejuruteraan Elektrik |
| institution |
Universiti Tun Hussein Onn Malaysia |
| collection |
UTHM Institutional Repository |
| language |
English |
| topic |
TJ Mechanical engineering and machinery TJ Mechanical engineering and machinery |
| spellingShingle |
TJ Mechanical engineering and machinery TJ Mechanical engineering and machinery KSM Kader Ibrahim, Babul Salam Control of A 2 D.O.F direct drive robot arm using integral sliding mode control |
| description |
High accuracy trajectory tracking is a very challenging topic in direct drive
robot control. This is due to the nonlinearities and input couplings present in the
dynamics of the robot arm. This thesis is concerned with the problems of modelling
and control of a 2 degree of freedom direct drive arm. The research work is
undertaken in the following five developmental stages; Firstly, the complete
mathematical model of a 2 DOF direct drive robot arm including the dynamics of the
brushless DC motors actuators in the state variable form is to be developed. In the
second stage, the state variable model is to be decomposed into an uncertain model.
Then, the Integral Sliding Mode Controller is applied to the robot arm. In the forth
stage, perform the simulation. This is done through the simulation on the digital
computer using MATLAB/SIMULINK as the platform. Lastly, the performance of
Integral Sliding Mode Controller is to be compared with an Independent Joint Linear
Control. |
| format |
Thesis |
| qualification_name |
Master of Philosophy (M.Phil.) |
| qualification_level |
Master's degree |
| author |
KSM Kader Ibrahim, Babul Salam |
| author_facet |
KSM Kader Ibrahim, Babul Salam |
| author_sort |
KSM Kader Ibrahim, Babul Salam |
| title |
Control of A 2 D.O.F direct drive robot arm using integral sliding mode control |
| title_short |
Control of A 2 D.O.F direct drive robot arm using integral sliding mode control |
| title_full |
Control of A 2 D.O.F direct drive robot arm using integral sliding mode control |
| title_fullStr |
Control of A 2 D.O.F direct drive robot arm using integral sliding mode control |
| title_full_unstemmed |
Control of A 2 D.O.F direct drive robot arm using integral sliding mode control |
| title_sort |
control of a 2 d.o.f direct drive robot arm using integral sliding mode control |
| granting_institution |
Universiti Teknologi Malaysia |
| granting_department |
Fakulti Kejuruteraan Elektrik |
| publishDate |
2004 |
| url |
http://eprints.uthm.edu.my/7908/1/24p%20BABUL%20SALAM%20KSM%20KADER%20IBRAHIM.pdf |
| _version_ |
1747831207184302080 |