Study on Robust Control of Industrial Manipulator for Assembly Based on SMCSPO

Abstract

This paper presents a method of controlling a robot manipulator using a sliding mode controller with sliding perturbation observer(SMCSPO) that are robust to nonlinear components of a multi-axis manipulator. Inverse kinematics analysis method is proposed to know the angle of each axis corresponding to the desired position coordinates as reference input. The signal compression method is used to find out the dynamic characteristics of the system. The linear parameters of the unknown system can be obtained by this method. The system is classified into linear term and nonlinear term by considering Coriolis term, inertial term, and centripetal term as disturbances. Robot manipulator is controlled using the sliding mode control with compensating the nonlinear component which is estimated by the sliding perturbation observer. In this paper, the inverse kinematic analysis of the 7-axis manipulator is used to determine the angle of each axis to the desired position, the unknown parameters are determined using the signal compression method, and then the SMCSPO and the PID are applied from 4 to 7axis of the manipulator system to show the robustness of the SMCSPO experiment.