Sliding mode control for constraint stabilization in multi-body system dynamic analysis

2014 ◽  
Author(s):  
Martin Benedikt ◽  
Georg Stettinger ◽  
Martin Horn
Keyword(s):  
Sliding Mode Control ◽  
Dynamic Analysis ◽  
Sliding Mode ◽  
System Dynamic ◽  
Body System ◽  
Constraint Stabilization ◽  
Mode Control ◽  
Multi Body

Dynamic Analysis and Sliding Mode Control of a Novel Extendable Modular Multi-DOFs Link

2012 ◽  
Author(s):  
Hak Yi ◽  
Je Hong Yoo ◽  
Reza Langari
Keyword(s):  
Sliding Mode Control ◽  
Dynamic Analysis ◽  
Sliding Mode ◽  
Free Motion ◽  
Modular Robot ◽  
Nonlinear Controller ◽  
Control Approach ◽  
Mode Control ◽  
Reachable Workspace ◽  
Simulation Results

In this paper, we have considered the new extendable modular multi-DOFs link to have a larger reachable workspace and more dexterous manipulability, as compared to a typical link. As a part of the extendable modular robot (EMR), our link is implemented to allow free motion when performing required tasks. In addition, this paper deals with a function of adjusting the link’s length (within 25% of the nominal length). Our investigation also focuses on the dynamics of a multi-DOFs link and the nonlinear controller for a given trajectory. The simulation results show the effectiveness of this control approach.

Dynamic analysis, simulation, and control of a 6-DOF IRB-120 robot manipulator using sliding mode control and boundary layer method

2018 ◽  
Vol 25 (9) ◽  
pp. 2219-2244 ◽  
Author(s):  
Mojtaba Hadi Barhaghtalab ◽  
Vahid Meigoli ◽  
Mohammad Reza Golbahar Haghighi ◽  
Seyyed Ahmad Nayeri ◽  
Arash Ebrahimi
Keyword(s):  
Boundary Layer ◽  
Sliding Mode Control ◽  
Dynamic Analysis ◽  
Sliding Mode ◽  
Robot Manipulator ◽  
Mode Control ◽  
Layer Method ◽  
Boundary Layer Method ◽  
Simulation And Control ◽  
And Control
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