چکیده مقاله
This paper presents a model for backlash nonlinearity in gears based on torque input output equation By combining the robot dynamic model with backlash, a stable sliding mode controller is developed and the asymptotic stability of the closed loop system is shown using Lyapunov method and Barbalatʼs Lemma The proposed method is produced no chattering in the control torques and the tracking performance is desirable Effectiveness of the controller is verified by comparative studies with numerical simulation Finally, experimental results are presented to demonstrate the efficiency and capability of the proposed controller in dealing with backlash nonlinearities in gears of a five bar manipulator
کلیدواژهها
نویسندگان
Soheil Ahangarian Abhari
Department of Control Engineering, Faculty of Electrical and Computer Engineering, University of Tabriz, Tabriz,Iran
Farzad Hashemzadeh
Department of Control Engineering, Faculty of Electrical and Computer Engineering, University of Tabriz, Tabriz,Iran
Mehdi Baradaran-nia
Department of Control Engineering, Faculty of Electrical and Computer Engineering, University of Tabriz, Tabriz,Iran
Hamed Kharrati
Department of Control Engineering, Faculty of Electrical and Computer Engineering, University of Tabriz, Tabriz,Iran
شیوه ارجاع
Ahangarian Abhari, Soheil and Hashemzadeh, Farzad and Baradaran-nia, Mehdi and Kharrati, Hamed,1396,Control of Robot Manipulators with a Model for Backlash Nonlinearity in Gears,Fifth International Conference on Electrical and Computer Engineering with Emphasis on Indigenous Knowledge,Tehran
ارائهشده در
مجموعه مقالات پنجمین کنفرانس بین المللی مهندسی برق و کامپیوتر با تاکید بر دانش بومی19 بهمن 1396 · تهران