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2019 | OriginalPaper | Buchkapitel

Control of Robot Manipulators with a Model for Backlash Nonlinearity in Gears

verfasst von : Soheil Ahangarian Abhari, Farzad Hashemzadeh, Mehdi Baradaran-nia, Hamed Kharrati

Erschienen in: Fundamental Research in Electrical Engineering

Verlag: Springer Singapore

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Abstract

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 Barbalat’s 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.

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Metadaten
Titel
Control of Robot Manipulators with a Model for Backlash Nonlinearity in Gears
verfasst von
Soheil Ahangarian Abhari
Farzad Hashemzadeh
Mehdi Baradaran-nia
Hamed Kharrati
Copyright-Jahr
2019
Verlag
Springer Singapore
Buch
Fundamental Research in Electrical Engineering

Print ISBN: 978-981-10-8671-7

Electronic ISBN: 978-981-10-8672-4

Copyright-Jahr: 2019

DOI
https://doi.org/10.1007/978-981-10-8672-4_18

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