A Position Synchronization Controller for Co-ordinated Links (COOL) Dual Robot Arm Based on Integral Sliding Mode: Design and Experimental Validation

doi:10.1007/s11633-020-1242-3

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	A Position Synchronization Controller for Co-ordinated Links (COOL) Dual Robot Arm Based on Integral Sliding Mode: Design and Experimental Validation
	Sumi Phukan; Chitralekha Mahanta
发表期刊	International Journal of Automation and Computing
ISSN	1476-8186
	2021
卷号	18 期号:1 页码:110-123
摘要	In this study, a simple position synchronization control algorithm based on an integral sliding mode is developed for dual-arm robotic manipulator systems. A first-order sliding surface is designed using cross-coupling error in order to ensure position synchronization of dual-arm manipulators. The design objective of the proposed controller is to ensure stability as well as to synchronize the movement of both arms while maintaining the trajectory as desired. The integral sliding mode eliminates the reaching phase and guarantees robustness throughout the whole operating period. Additionally, a low pass filter is used to smoothen the discontinuous element and minimize unwanted chattering. Lyapunov stability theory is utilized to prove the asymptotic stability of the controlled system. Simulation studies are performed to validate the proposed controller′s effectiveness. Also, to investigate the possibility of realizing the proposed dynamic control method in practical applications, experiments are conducted on a 14DoF coordinated links (COOL) dual-arm robotic manipulator system. Experimental evidence indicates adequate efficiency in trajectory tracking and guarantees robustness in the presence of parametric uncertainty and external disturbance.
关键词	Integral sliding mode control position synchronization dual-arm robotic manipulator chattering robust control
DOI	10.1007/s11633-020-1242-3
引用统计	被引频次：9[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/42458
专题	学术期刊_Machine Intelligence Research
作者单位	Department of Electronics and Electrical Engineering, Indian Institute of Technology Guwahati, Guwahati 781039, India
推荐引用方式 GB/T 7714	Sumi Phukan,Chitralekha Mahanta. A Position Synchronization Controller for Co-ordinated Links (COOL) Dual Robot Arm Based on Integral Sliding Mode: Design and Experimental Validation[J]. International Journal of Automation and Computing,2021,18(1):110-123.
APA	Sumi Phukan,&Chitralekha Mahanta.(2021).A Position Synchronization Controller for Co-ordinated Links (COOL) Dual Robot Arm Based on Integral Sliding Mode: Design and Experimental Validation.International Journal of Automation and Computing,18(1),110-123.
MLA	Sumi Phukan,et al."A Position Synchronization Controller for Co-ordinated Links (COOL) Dual Robot Arm Based on Integral Sliding Mode: Design and Experimental Validation".International Journal of Automation and Computing 18.1(2021):110-123.

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