Modeling and sliding mode control of flexible link flexible joint robot manipulator

摘要

This paper concerns with modeling and control of a single flexible link flexible joint robot manipulator (SFLFJM). Euler Lagrangian and assumed mode method is used for modeling the dynamics of the manipulator. The position control for SFLFJM using a sliding mode controller (SMC) is investigated. Using two types of SMC techniques, control law is designed such that the manipulator reached the desired position. Conventional SMC, Quasi-SMC are the two different types of SMC used. Chattering elimination is achieved using Quasi-SMC. Lyapunov stability is used for stability of sliding surfaces. The proposed design is validated using MATLAB/SIMULINK simulation results.