Control of robot manipulators with a model for Backlash nonlinearity in gears

Soheil Ahangarian Abhari; Farzad Hashemzadeh; Mehdi Baradaran-nia; Hamed Kharrati

doi:10.1007/978-981-10-8672-4_18

Control of robot manipulators with a model for Backlash nonlinearity in gears

Soheil Ahangarian Abhari^*, Farzad Hashemzadeh, Mehdi Baradaran-nia, Hamed Kharrati

^*Corresponding author for this work

University of Tabriz

Research output: Chapter in Book/Report/Conference proceeding › Chapter › peer-review

2 Citations (Scopus)

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.

Original language	English
Title of host publication	Lecture Notes in Electrical Engineering
Publisher	Springer Verlag
Pages	239-255
Number of pages	17
DOIs	https://doi.org/10.1007/978-981-10-8672-4_18
Publication status	Published - 2019
Externally published	Yes

Publication series

Name	Lecture Notes in Electrical Engineering
Volume	480
ISSN (Print)	1876-1100
ISSN (Electronic)	1876-1119

Bibliographical note

Publisher Copyright:
© Springer Nature Singapore Pte Ltd 2019.

Keywords

Backlash nonlinearities
Modeling
Nonlinear control
Robot manipulator

Access to Document

10.1007/978-981-10-8672-4_18

Cite this

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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{\textquoteright}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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Control of robot manipulators with a model for Backlash nonlinearity in gears. / Abhari, Soheil Ahangarian; Hashemzadeh, Farzad; Baradaran-nia, Mehdi et al.
Lecture Notes in Electrical Engineering. Springer Verlag, 2019. p. 239-255 (Lecture Notes in Electrical Engineering; Vol. 480).

Research output: Chapter in Book/Report/Conference proceeding › Chapter › peer-review

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AU - Baradaran-nia, Mehdi

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PY - 2019

Y1 - 2019

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AB - 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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Control of robot manipulators with a model for Backlash nonlinearity in gears

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