چکیده مقاله
Biomechanical simulations are essential for improving athletic performance and preventing potential injuries, yet they require precise and robust control to track the fast and nonlinear movements of the human body In this research, a 5 degree of freedom 5 DOF skeletal arm model was developed using the Lagrangian method to simulate the tennis forehand stroke Subsequently, an Inverse Dynamics Sliding Mode Controller ID SMC was designed to track reference trajectories extracted from experimental data Simulation results indicated that the proposed controller tracks the path with considerable accuracy, causing the tracking error to converge to zero in less than 0 5 seconds Furthermore, the generated control torques were smooth and bounded This successful performance demonstrates the high potential of this control method for applications in designing robotic rehabilitation systems and intelligent sport training tools
کلیدواژهها
نویسندگان
Fateme Vafaei
School of Mechanical Engineering, Shiraz University, Shiraz, Iran
Seyyed Arash Haghpanah
School of Mechanical Engineering, Shiraz University, Shiraz, Iran
شیوه ارجاع
Vafaei, Fateme and Haghpanah, Seyyed Arash,1404,Inverse Dynamics Sliding Mode Control for a 5-DOF Tennis Arm Model,The First National Conference on Applied Technologies in Mechanical Engineering (ATME2025),Ahvaz
ارائهشده در
مجموعه مقالات اولین کنفرانس ملی فناوری های کاربردی در مهندسی مکانیک27 آبان 1404 · اهواز