Adaptive Neuro-Sliding Mode Control of PUMA 560 Robot Manipulator
نویسندگان
چکیده
منابع مشابه
Comparison of Sliding Mode Control and Decoupled Sliding Mode Control of Robot Puma 560
Abstract. There is presented a comparison of sliding mode control and decoupled sliding mode control algorithms for the PUMA 560 robot position control. The Lagrange-Euler mathematical model of the robot is used for calculation the control laws. The algorithms show good robustness to model inaccuracies. The decoupled sliding mode control shows better performance in positioning than the standard...
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There is presented a design of a sliding mode position control algorithm for the PUMA 560 robot position control. The Lagrange-Euler model of a robot is used for calculation of robot law. Computer simulations of the robot with the sliding mode control were performed. The presented control algorithm shows a good robustness with respect to the robot model uncertainty.
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ژورنال
عنوان ژورنال: Journal of Automation, Mobile Robotics & Intelligent Systems
سال: 2016
ISSN: 1897-8649,2080-2145
DOI: 10.14313/jamris_4-2016/27