Sliding Mode Rest-to-Rest Stabilization and Trajectory Tracking for a Discretized Flexible Joint Manipulator

Authors: Sira-Ramìrez H.; Castro-Linares R.

Source: Dynamics and Control, Volume 10, Number 1, January 2000 , pp. 87-105(19)

Publisher: Springer

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Abstract:

In this article, a difference flatness approach is used for trajectory tracking tasks of an approximately (Euler) discretized model of a nonlinear, single link, flexible joint manipulator. The system's flat output is commanded to follow a prescribed trajectory achieving a desired angular position maneuver. A new robust discrete time feedback controller design technique, of the sliding mode type, is then proposed for the closed loop regulation of the link position around the prescribed trajectory. The effectiveness of the approach is illustrated by means of digital computer simulations in a rest-to-rest stabilization maneuver and in a sinusoidal reference trajectory tracking task.

Keywords: difference flatness; flexible joint robot; trajectory planning

Language: English

Document Type: Regular paper

Affiliations: 1: Centro de Investigaciòn y Estudios Avanzados del IPN, Departamento de Ingeniería Eléctrica, Avenida IPN, 2508, Apartado Postal 14-740, 07300 México, D.F., México

Publication date: 2000-01-01