Comparison and estimation of reaction force of end effector of 1-DOF manipulator using PDSPO and SMCSPO without sensor

摘要

This paper present the method to estimate and compare the reaction force of end effector of 1-DOF manipulator using Proportional derivative with sliding perturbation observer (PDSPO) and sliding mode control with sliding perturbation observer (SMCSPO) without using any sensor. Simulation of 1-DOF manipulator is done in Matlab/Simulink from the generation of a mechanical model using SimMechanics Toolbox. Proportional derivative (PD) is used to derive the 1-DOF manipulator, whereas the sliding perturbation observer (SPO) computes the quantity of estimated perturbation which is combination of the uncertainties and nonlinear terms. In this paper Sliding mode control with sliding perturbation observer (SMCSPO) is used to control the manipulator and observe the amount of estimated perturbation. Actual perturbation is derived from the dynamics of 1-DOF manipulator. Reaction force of end effector of 1-DOF manipulator is estimated from the change of estimated perturbation and actual perturbation. Based on this idea, this paper proposed a method to estimate the reaction force of end effector of 1-DOF manipulator using only PDSPO and SMCSPO without any additional sensor. Utilizing this methodology, the requirement of additional reaction force sensors is removed. It improves the structural reduction of the link manipulator robots and decreases the cost. Simulation results performed on end effector of 1-DOF manipulator are presented to show the performance of PDSPO and SMCSPO. Simulation result also show that the reaction force can be estimated of 1-DOF manipulator using PDSPO and SMCSPO without any additional sensor. The result shows that Sliding mode control with sliding perturbation observer (SMCSPO) produce better response compared to Proportional derivative with sliding perturbation observer (PDSPO) when payload is changed.