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 arm....

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Bibliographic Details
Main Author:	KSM Kader Ibrahim, Babul Salam
Format:	Thesis
Language:	English
Published:	2004
Subjects:	TK Electrical engineering Electronics Nuclear engineering
Online Access:	http://eprints.utm.my/id/eprint/2954/1/BabulSalamMFKE2004.pdf
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id	my-utm-ep.2954
record_format	uketd_dc
spelling	my-utm-ep.29542018-06-25T00:42:57Z Control of a 2 D.O.F direct drive robot arm using integral sliding mode control 2004-10 KSM Kader Ibrahim, Babul Salam TK Electrical engineering. Electronics Nuclear engineering 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.utm.my/id/eprint/2954/ http://eprints.utm.my/id/eprint/2954/1/BabulSalamMFKE2004.pdf application/pdf en public masters Universiti Teknologi Malaysia, Faculty of Electrical Engineering Faculty of Electrical Engineering
institution	Universiti Teknologi Malaysia
collection	UTM Institutional Repository
language	English
topic	TK Electrical engineering Electronics Nuclear engineering
spellingShingle	TK Electrical engineering Electronics Nuclear engineering 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_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, Faculty of Electrical Engineering
granting_department	Faculty of Electrical Engineering
publishDate	2004
url	http://eprints.utm.my/id/eprint/2954/1/BabulSalamMFKE2004.pdf
_version_	1747814431191990272

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

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