TY - GEN
T1 - Sliding mode based rejection of load and torque ripple in a direct-drive 2 DOF robot arm
AU - Bogosyan, Seta
AU - Suravaram, Praveen Reddy
AU - Gokasan, Metin
PY - 2005
Y1 - 2005
N2 - This study aims to demonstrate the importance of torque ripple and its elimination for both position control and trajectory tracking applications in multi-degree of freedom (DOF) direct-drive (DD) systems. The problem of torque ripple has been studied intensively for 1 DOF systems, but to the best knowledge of the authors, this is the first study addressing this issue for a 2 DOF DD system under gravity effects. For this purpose the system performance is evaluated with realistic simulation models using a chattering-free sliding mode controller (SMC) for a variety of reference trajectories for both links, also taking ripple torque and cogging torque into account for each link. The comparison of the results obtained with a well-turned PID controller demonstrates significant rejection of both torque ripple and load uncertainties achieved with the SMC and the resulting increase in tracking accuracy of the overall system.
AB - This study aims to demonstrate the importance of torque ripple and its elimination for both position control and trajectory tracking applications in multi-degree of freedom (DOF) direct-drive (DD) systems. The problem of torque ripple has been studied intensively for 1 DOF systems, but to the best knowledge of the authors, this is the first study addressing this issue for a 2 DOF DD system under gravity effects. For this purpose the system performance is evaluated with realistic simulation models using a chattering-free sliding mode controller (SMC) for a variety of reference trajectories for both links, also taking ripple torque and cogging torque into account for each link. The comparison of the results obtained with a well-turned PID controller demonstrates significant rejection of both torque ripple and load uncertainties achieved with the SMC and the resulting increase in tracking accuracy of the overall system.
KW - 2 Degree of freedom
KW - Direct drive robot arm
KW - Sliding mode control
KW - Torque ripple
UR - http://www.scopus.com/inward/record.url?scp=33749654859&partnerID=8YFLogxK
U2 - 10.1109/IECON.2005.1569209
DO - 10.1109/IECON.2005.1569209
M3 - Conference contribution
AN - SCOPUS:33749654859
SN - 0780392523
SN - 9780780392526
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 1986
EP - 1992
BT - IECON 2005
T2 - IECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society
Y2 - 6 November 2005 through 10 November 2005
ER -