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

^*Bu çalışma için yazışmadan sorumlu yazar

University of Tabriz

Araştırma sonucu: ???type-name??? › Bölüm › bilirkişi

2 Atıf (Scopus)

Özet

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.

Orijinal dil	İngilizce
Ana bilgisayar yayını başlığı	Lecture Notes in Electrical Engineering
Yayınlayan	Springer Verlag
Sayfalar	239-255
Sayfa sayısı	17
DOI'lar	https://doi.org/10.1007/978-981-10-8672-4_18
Yayın durumu	Yayınlandı - 2019
Harici olarak yayınlandı	Evet

Yayın serisi

Adı	Lecture Notes in Electrical Engineering
Hacim	480
ISSN (Basılı)	1876-1100
ISSN (Elektronik)	1876-1119

Bibliyografik not

Publisher Copyright:
© Springer Nature Singapore Pte Ltd 2019.

Belgeye Erişim

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

Diğer Dosyalar ve Linkler

Link to publication in Scopus

Alıntı Yap

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title = "Control of robot manipulators with a model for Backlash nonlinearity in gears",

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.",

keywords = "Backlash nonlinearities, Modeling, Nonlinear control, Robot manipulator",

author = "Abhari, {Soheil Ahangarian} and Farzad Hashemzadeh and Mehdi Baradaran-nia and Hamed Kharrati",

note = "Publisher Copyright: {\textcopyright} Springer Nature Singapore Pte Ltd 2019.",

year = "2019",

doi = "10.1007/978-981-10-8672-4_18",

language = "English",

series = "Lecture Notes in Electrical Engineering",

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TY - CHAP

T1 - Control of robot manipulators with a model for Backlash nonlinearity in gears

AU - Abhari, Soheil Ahangarian

AU - Hashemzadeh, Farzad

AU - Baradaran-nia, Mehdi

AU - Kharrati, Hamed

PY - 2019

Y1 - 2019

N2 - 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.

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.

KW - Backlash nonlinearities

KW - Modeling

KW - Nonlinear control

KW - Robot manipulator

UR - http://www.scopus.com/inward/record.url?scp=85054332809&partnerID=8YFLogxK

U2 - 10.1007/978-981-10-8672-4_18

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

M3 - Chapter

AN - SCOPUS:85054332809

T3 - Lecture Notes in Electrical Engineering

SP - 239

EP - 255

BT - Lecture Notes in Electrical Engineering

PB - Springer Verlag

ER -

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

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