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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Bibliographic Details
Main Author:	KSM Kader Ibrahim, Babul Salam
Format:	Thesis
Language:	English
Published:	2004
Subjects:	TJ Mechanical engineering and machinery
Online Access:	http://eprints.uthm.edu.my/7908/1/24p%20BABUL%20SALAM%20KSM%20KADER%20IBRAHIM.pdf
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id	my-uthm-ep.7908
record_format	uketd_dc
spelling	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

Control of A 2 D.O.F direct drive robot arm using integral sliding mode control

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