Pick and Place Operation of a Robotic Arm Using Multirate Event Triggered Sliding Mode Control

摘要

The proposed system is a pick and place algorithm for a robotic arm using multirate event triggered sliding mode controller. The robotic arm in three dimensional coordinate space is analysed for the work. The arm is modeled as a switched system divided into individual subsystems which are dependent on the angular positions of the arm in the coordinate space. Event triggering is found to be efficient when compared to time triggered control as the control update is done only at instants when a triggering rule is violated. And the triggering rule is chosen such that it takes into account the stability conditions of the system. The multirate control employed is the fast output sampling based sliding mode control. The three dimensional arm system is thus controlled on an event triggering basis such that one can pick and place an object in the defined coordinate space with minimum control updates and thus help in efficient utilization of resources.