Tracking control of robot manipulators using sliding mode

Journal Article · Tue Mar 31 23:00:00 EST 1987 · IEEE Trans. Power Electron.; (United States)

DOI:https://doi.org/10.1109/TPEL.1987.4766351· OSTI ID:5924537

Harashima, F; Xu, J X; Hashimoto, H

A new methodology using the theory of variable structure systems is developed for accurate tracking control of robotic manipulators. The proposed method, based on a sliding mode controller, produces a discontinuity control input so that the nonlinear interactions and influence caused by unknown parameter variations can be depressed whereas the resulting control law is simple and easy to apply to on-line computer control. The digital simulation results of a three-degree-of-freedom manipulator show the validity of accurate tracking capability and robust performance of the system with the developed control scheme.

• Research Organization: Institute of Industrial Science, Univ. of Tokyo, 7-22-1 Roppongi, Minato-ku, Tokyo 106
• OSTI ID: 5924537
• Journal Information: IEEE Trans. Power Electron.; (United States), Journal Name: IEEE Trans. Power Electron.; (United States) Vol. PE-2:2; ISSN ITPEE
• Country of Publication: United States
• Language: English

Related Subjects

99 GENERAL AND MISCELLANEOUS
990210* -- Supercomputers-- (1987-1989)
ACCURACY
COMPUTERIZED CONTROL SYSTEMS
COMPUTERIZED SIMULATION
CONTROL
CONTROL SYSTEMS
CONTROL THEORY
DIGITAL SYSTEMS
EQUIPMENT
LABORATORY EQUIPMENT
MANIPULATORS
MATERIALS HANDLING EQUIPMENT
NONLINEAR PROBLEMS
ON-LINE SYSTEMS
PERFORMANCE
REMOTE HANDLING EQUIPMENT
ROBOTS
SIMULATION