Application of SMC and NLFC Into a PRRR Robotic Arm

Abstract

Industrial robotic arms are widely used nowadays. Accuracy and efficiency that fulfill user’s requirements are achieved through robust controller. This paper investigates dynamics modeling and control of a four DOF (PRRR) robot that is dedicated to perform a Pick-and-Place move of a certain product. The arm is undergoing manufacturing process. Forward and inverse kinematics solutions are introduced to solve the joint space trajectories associated with the desired End Effector (EE) Cartesian space path. The performance of two controllers under the presence of model uncertainties is inspected through a simulation study; Non-Linear Feedback Control (NLFC) and Sliding Mode Control (SMC) are designed and tested over the required joint space trajectories and Cartesian space path. Results showed that NLFC achieved better results than SMC in terms of RMSE when model uncertainties were absent. However, when model uncertainties were introduced, SMC performance was more robust than NLFC. Simulation results are very encouraging towards using the SMC over the actual robotic arm.

Applications of autonomous rover for radiometric surveillance

“…This motivated this work to design and develop a rover with a radiation detector. smooth variable structure filter has also been extensively reviewed for its potential in nonlinear control and estimation in robotics [40,[43][44][45][46][47][48][49][50]. Additionally, the use of Kalman filter and its variants in robotic manipulators has shown promising results [51][52][53][54][55][56][57][58][59][60][61][62][63][64][65][66][67][68][69].…”

Modelling and simulation of a prismatic: prismatic robotic arm manipulator

“…Robotic manipulators have transformed the industrial sector by making it possible to automate many activities with a high degree of accuracy and precision [1][2][3][4][5]. These manipulators involve motion in three dimensions, which is often accomplished by translational or rotational movements utilizing prismatic and rotational joints, respectively [6][7][8].…”

“…To achieve this robust controller [9][10][11][12][13][14][15][16][17][18][19][20][21][22][23] and good estimation techniques, shall be used . Moreover, among the many usages of the of artificial intelligence (AI) [56][57][58][59][60] the integration of it in robotic manipulators enhances their capabilities by enabling intelligent behavior, adaptive control, computer vision, and learning algorithms for improved performance and precision in various industrial applications [2,31,39,41,[61][62][63][64][65]. In this work, we focus on the modelling and simulation of a prismatic-prismatic arm that is widely used across different industries.…”

Sigma-Point Filters in Robotic Applications

“…The problem with such applications is the necessary to apply nonlinear control signals to achieve the desired trajectories. The latter is not easy to be implemented and has several limitations [1]- [3]. For example, Sliding Mode Control (SMC) [1] is one of the robust control approaches.…”

“…The latter is not easy to be implemented and has several limitations [1]- [3]. For example, Sliding Mode Control (SMC) [1] is one of the robust control approaches. However, it suffers from chattering.…”