SLIDING MODE CONTROL FOR DETERMINING MAXIMUM LOAD OF ELASTIC JOINT ROBOTS

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KORAYEM M.H.; PILEHCHIAN A.

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Journal Paper

Paper Information

Journal: AMIRKABIR Year:2007 | Volume:17 | Issue:65-B Page(s): 75-82

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Information Journal Paper

Title

SLIDING MODE CONTROL FOR DETERMINING MAXIMUM LOAD OF ELASTIC JOINT ROBOTS

Author(s)

KORAYEM M.H. | PILEHCHIAN A. | Issue Writer Certificate

Keywords

SLIDING MODE CONTROL

LOAD CARRYING CAPACITY

ROBOT

FLEXIBLE JOINT

Abstract

In this paper, imposing torque and accuracy constraints, a new method for determination of Dynamic LOAD CARRYING CAPACITY (DLCC) in FLEXIBLE JOINT ROBOTs (FJR) has been presented. The method is based on SLIDING MODE CONTROL algorithm as a robust control algorithm so it has the ability of determination of maximum dynamic LOAD CARRYING CAPACITY in the presence of disturbance. Algorithms are represented in both case of absence and presence of the disturbance for determination of maximum dynamic LOAD CARRYING CAPACITY. Also, in each condition in order to evaluate the performance of the proposed method simulation test is carried out. Results of the maximum dynamic load carrying capacities are discussed.

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APA: Copy

KORAYEM, M.H., & PILEHCHIAN, A.. (2007). SLIDING MODE CONTROL FOR DETERMINING MAXIMUM LOAD OF ELASTIC JOINT ROBOTS. AMIRKABIR, 17(65-B), 75-82. SID. https://sid.ir/paper/540508/en

Vancouver: Copy

KORAYEM M.H., PILEHCHIAN A.. SLIDING MODE CONTROL FOR DETERMINING MAXIMUM LOAD OF ELASTIC JOINT ROBOTS. AMIRKABIR[Internet]. 2007;17(65-B):75-82. Available from: https://sid.ir/paper/540508/en

IEEE: Copy

M.H. KORAYEM, and A. PILEHCHIAN, “SLIDING MODE CONTROL FOR DETERMINING MAXIMUM LOAD OF ELASTIC JOINT ROBOTS,” AMIRKABIR, vol. 17, no. 65-B, pp. 75–82, 2007, [Online]. Available: https://sid.ir/paper/540508/en

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