한국소음진동공학회논문집 (Transactions of the Korean Society for Noise and Vibration Engineering)

  • 제22권10호
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  • Pages.949-958
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  • 2012
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  • 1598-2785(pISSN)
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  • 2287-5476(eISSN)
한국소음진동공학회 (The Korean Society for Noise and Vibration Engineering)
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탄성 케이블로 구동되는 조작기 링크의 외란 관측기 기반 슬라이딩모드 제어

Disturbance Observer Based Sliding Mode Control for Link of Manipulator Driven by Elastic Cable

  • Kang, Min-Sig (Gachon University, Dept. of Mechanical & Automotive Engineering)
  • 투고 : 2012.05.23
  • 심사 : 2012.09.07
  • 발행 : 2012.10.20
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초록

Position tracking control of a link of a slave manipulator which needed to track the corresponding link of a master manipulator was addressed in this paper. Since driving torque from motor is transmitted through a set of flexible cable to link, the motion control system is modeled by a two-mass model connected with elastic coupling which has finite stiffness. Relative vibration of two-mass resonant system is a serious problem to operate manipulator. This paper proposed sliding mode control to reduce resonant vibration and fine position tracking control. Also, a pseudo-sliding mode control which uses a saturation function instead of a signum function was discussed and showed that the pseudo-sliding mode control can improve disturbance regulation performance as well as guarantees fine command tracking without chattering which is an inherent drawback of basic sliding mode control. In addition, a disturbance observer based sliding mode control has been suggested to improve disturbance regulation performance. The feasibility of the proposed control design was verified along with some simulation results.

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참고문헌

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