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Microprocessor-Based Force Control for Manipulator Using Variable Structure with Sliding Mode

1983; Elsevier BV; Volume: 16; Issue: 16 Linguagem: Inglês

10.1016/s1474-6670(17)61861-5

2589-3653

Y. Dote, T. Manabe, Sohji Murakami,

Dynamics and Control of Mechanical Systems

The design principles of sliding mode control are studied and then are applied to force control of a manipulator hand powered by a PWM transistor converter-fed dc servomotor. Each step in the formulation of the control algorithm is clearly defined and explained. The feasibility of this control scheme is experimentally verified. The control strategy is implemented by using a Motorola 6809 Microprocessor. The proposed controller is robust in both dynamic and steady state performances and provides extremely smooth force control independent of system parameter variations, nonlinearities and external disturbances. In addition to this, the design procedure of the controller is very simple, since it does not require accurate modeling, but it is sufficient to know only the bounds of the model parameters and disturbances. The designer can easily determine a desired time constant by choosing a sliding curve.