Robust Sliding Mode Fuzzy Control of Industrial Robots Using an Extended Kalman Filter Inverse Kinematic Solver
نویسندگان
چکیده
This paper presents a sliding mode fuzzy control approach for industrial robots at their static and near speed (linear velocities less than 5 cm/s). The extended Kalman filter with its covariance resetting is used to translate the coordinates from Cartesian joint angle space. translated angles are then as reference signal robot dynamics using controller. stability robustness of proposed controller proven an appropriate Lyapunov function in presence parameter uncertainty unknown dynamic friction. simulated on 6-DOF robot, namely Universal Robot-UR5, considering maximum allowable torques. It observed that can successfully UR5 under uncertainties terms friction uncertainties. tracking performance compared approach. simulation results demonstrate superior over method
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ژورنال
عنوان ژورنال: Energies
سال: 2022
ISSN: ['1996-1073']
DOI: https://doi.org/10.3390/en15051876