| Title: | GS7-5 Study on Decentralized Integral Nested Sliding Mode Control for Constrained Reconfigurable Manipulator with Harmonic Drive Transmission |
|---|---|
| Publication: | ICAROB2016 |
| Volume: | 21 |
| Pages: | 307-311 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2016.GS7-5 |
| Author(s): | Bo Dong, Zeyu Dong, Bo Zhao, Yan li, Fumitoshi Matsuno, Yuanchun Li, |
| Publication Date: | January 29, 2016 |
| Keywords: | Reconfigurable manipulator, harmonic drive, decentralized control, sliding mode control |
| Abstract: | This paper addresses the problems of trajectory tracking control of a constrained reconfigurable manipulator with harmonic drive transmission under a decentralized integral nested sliding mode control (INSMC) method, and a high-performance control is achieved without using force/torque sensor. The dynamic model of the constrained reconfigurable manipulator is formulated with a nonlinear harmonic drive model. Based on only local dynamic information of each module, a decentralized integral nested sliding mode control method is proposed to reduce the chattering effect of the controller and compensating the model uncertainties. Finally, simulations are performed for a constrained 2-DOF reconfigurable manipulator to study the effectiveness of the proposed method. |
| PDF File: | https://alife-robotics.co.jp/members2016/icarob/data/papers/GS/GS7-5.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
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