Design of a Real Time Path of Motion Using a Sliding Mode Control with a Switching Surface
Research output: Contributions to collected editions/works › Article in conference proceedings › Research › peer-review
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Advanced, Contemporary Control : Proceedings of KKA 2020—The 20th Polish Control Conference, Łódź, Poland, 2020. ed. / Andrzej Bartoszewicz; Jacek Kabziński; Janusz Kacprzyk. Vol. 1 Cham: Springer Verlag, 2020. p. 197-206 (Advances in Intelligent Systems and Computing; Vol. 1196).
Research output: Contributions to collected editions/works › Article in conference proceedings › Research › peer-review
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TY - CHAP
T1 - Design of a Real Time Path of Motion Using a Sliding Mode Control with a Switching Surface
AU - Kunkelmoor, Jörg
AU - Mercorelli, Paolo
N1 - Conference code: 20
PY - 2020/1/1
Y1 - 2020/1/1
N2 - Due to an increasing variety of tasks in production systems, the programming of robots becomes more complex. The aim of this work is, therefore, to simplify the work involved in programming of different contours as much as possible. Instead of specifying individual points of a contour in code, only one start and one end position are given. The movement between the two points is changed in real time by a robust control scheme, thus simplifying the programming effort for different contours. In this work, the robot is considered as a black box system and the approach to control consists only of considering the error of position and velocity without model. In the presented case, the development of the controller has shown that an Integral Sliding Mode Control (ISMC) strategy does not provide the desired control quality because of the presence of unavoidable saturating actuators in robots. Furthermore, a better result could be achieved with a Sliding Mode Control (SMC) approach that switches between two predefined surfaces. With this approach, good dynamic performances are obtained, in particular, in terms of overshoot which proves to be drastically reduced. Validations of the proposed method are obtained using real measurements realized on an industrial robot.
AB - Due to an increasing variety of tasks in production systems, the programming of robots becomes more complex. The aim of this work is, therefore, to simplify the work involved in programming of different contours as much as possible. Instead of specifying individual points of a contour in code, only one start and one end position are given. The movement between the two points is changed in real time by a robust control scheme, thus simplifying the programming effort for different contours. In this work, the robot is considered as a black box system and the approach to control consists only of considering the error of position and velocity without model. In the presented case, the development of the controller has shown that an Integral Sliding Mode Control (ISMC) strategy does not provide the desired control quality because of the presence of unavoidable saturating actuators in robots. Furthermore, a better result could be achieved with a Sliding Mode Control (SMC) approach that switches between two predefined surfaces. With this approach, good dynamic performances are obtained, in particular, in terms of overshoot which proves to be drastically reduced. Validations of the proposed method are obtained using real measurements realized on an industrial robot.
KW - Applications
KW - Robots
KW - Sliding Mode Control
KW - Trajectory control
UR - http://www.scopus.com/inward/record.url?scp=85088210624&partnerID=8YFLogxK
U2 - 10.1007/978-3-030-50936-1_17
DO - 10.1007/978-3-030-50936-1_17
M3 - Article in conference proceedings
AN - SCOPUS:85088210624
SN - 978-3-030-50935-4
VL - 1
T3 - Advances in Intelligent Systems and Computing
SP - 197
EP - 206
BT - Advanced, Contemporary Control
A2 - Bartoszewicz, Andrzej
A2 - Kabziński, Jacek
A2 - Kacprzyk, Janusz
PB - Springer Verlag
CY - Cham
T2 - 20th Polish Control Conference, PCC 2020
Y2 - 22 June 2020 through 24 June 2020
ER -