Control of an Anthropomorphic Manipulator using LuGre Friction Model - Design and Experimental Validation

Automation technology has been extensively recognized as an emerging field in various industrial applications. Recent breakthrough flexible automation is primarily due to deployment of robotic arms or manipulators. Autonomy these manipulators essentially linked with the advancements non-linear control systems. The objective this research propose a robust algorithm for five degree freedom (DOF) arm achieve superior performance and reliability presence friction. A friction compensation-based proposed realized manipulator. dynamic model robot derived by considering model. three-state validated all joints integral sliding mode (ISMC) methodology designed; trajectories system every time begin from surface it eliminates reaching phase assistance term manifold. designed law first simulated Matlab/Simulink environment characterize terms tracking trajectories. results confirm effectiveness model-based compensation. transient parameters like settling peak have improvement well better than without then on in-house developed autonomous articulated rducational platform (AUTAREP) NI myRIO hardware interfaced LabVIEW. Experimental also witnessed trajectory platform.