Design of the Sliding Mode Control for the Puma 560 Robot
نویسندگان
چکیده
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.
منابع مشابه
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تاریخ انتشار 2003