Load transportation by dual arm robot using sliding mode control

Abstract

In this study, a sliding mode controlled dual arm robotic system was designed. Such multi-arm, collaborative and synchronous robots typically are employed in hazardous situations such as radioactive materials transport explosives disposal and industrial applications. In the present study, a high performance, robust, non-chattering sliding mode controller (SMC) was developed for the purpose of safe load handling, transportation and trajectory realization. First, dynamic equations of robot/load interaction were derived. Then, the robust SMC was designed for the dual arm robotic system. In order to test the robustness of the proposed SMC, parameter variations and external disturbances were introduced to the system. Furthermore, for comparative purposes, the conventional and widely used, PID controller was also applied to the dual arm robot. Significantly, it was found that the SMC made smaller trajectory tracking errors than the PID controller. An overall analysis of the numerical results confirmed that the dual-arm robotic systems with the proposed SMC can safely and effectively be used in hazardous applications.

Task-Space Modular Dynamics for Dual-Arms Expressed through a Relative Jacobian

“…From (23), position is controlled along x R x -and x R z -axes, while force is controlled along the x R y -axis. Such that the selection matrices have the following diagonal terms diag(Ω R ) = {1, 0, 1, 0, 0, 0} and diag(Ω R ) = {0, 1, 0, 0, 0, 0}.…”

“…For humanoids, these studies include the effects in modelling and simulating a human or a humanoid [8], task and whole body motion coordination with active force control [9], a dynamics simulator for humanoid robots [10,11], dynamic balance force control for determining full body joint torques [12,13], sequential optimization for impact motions of humanoid robots [14], human-humanoid postures with external disturbances [15], centroidal dynamics of humanoids [16], humanoid complete dynamics [17], and decoupled dynamics for NASA-JSC Valkyrie [18]. For dual-arm robots, studies on their dynamics model include dynamics of a flexible dual-arm robot using Lagrange formulation [19], modular dynamics with inertias expressed at the joint-space level [20], dynamics of a dual-arm space robot [21,22], dynamics of a dual-arm robot for load transport under sliding mode control [23,24], dynamics with elasticity at the joints [25], and dynamics of rigid dual-arms carrying a flexible load [26].…”

Artificial Neural Network Based Prediction Model of the Sliding Mode Control in Coordinating Two Robot Manipulators

“…Control er will be designed based on the dynamic equation of are two steps needed for the sliding mode controller [12] face for the cooperative system is chosen. The second s ized by sfer la is (1) ], C atrix iven f the used 2 with the ].…”

“…The first is chattering phenomena which is high output frequency of the controller. The second is that the calculation of known sections of nonlinear system as equivalent control is difficult [12] when solving these kinds of problems. Some researchers have been investigated on some soft computing methods which have been adapted from artificial intelligence such as fuzzy logic, neural network, evolutionary computing and so on [12][13] [14] [15].…”

“…The second is that the calculation of known sections of nonlinear system as equivalent control is difficult [12] when solving these kinds of problems. Some researchers have been investigated on some soft computing methods which have been adapted from artificial intelligence such as fuzzy logic, neural network, evolutionary computing and so on [12][13] [14] [15]. A hybrid sliding mode control with neural network has been investigated by several researchers to develop one robot manipulator which was initially proposed [13] and investigated by some researchers [12] [14] [16].…”