Comparison of Sliding Mode Control and Decoupled Sliding Mode Control of Robot Puma 560
نویسندگان
چکیده
Abstract. There is presented a comparison of sliding mode control and decoupled sliding mode control algorithms for the PUMA 560 robot position control. The Lagrange-Euler mathematical model of the robot is used for calculation the control laws. The algorithms show good robustness to model inaccuracies. The decoupled sliding mode control shows better performance in positioning than the standard sliding mode control.
منابع مشابه
Design of the Sliding Mode Control for the Puma 560 Robot
There is presented a design of a sliding mode position control algorithm for the PUMA 560 robot position control. The Lagrange-Euler model of a robot is used for calculation of robot law. Computer simulations of the robot with the sliding mode control were performed. The presented control algorithm shows a good robustness with respect to the robot model uncertainty.
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