Super Twisting Control For Thermo’s Catalyst-5 Robotic Arm

摘要

The control of industrial robotics systems is important due to the wide range of their applications. These machines are complex electromechanical systems that have multiples input/outputs, are non-linear and uncertainty. For this purpose, it is essential that the robot programmers can test the behavior of the robots in different circumstances and with varying parameters under a control methodology. In this work, it is designed a controller base on Super Twisting Algorithm (robust nonlinear controller) to reduce the chattering problem of sliding mode control with the robustness of robotic manipulator, and the stability proof in the case of nonlinear systems. Simulation results are shown and compare with the Proportional-Derivative controller using the 5-DOF (Degrees of Freedom) robotic manipulator CRS Catalyst-5 by Thermo Electron Corporation to illustrate the efficient of the proposed method.