{"title":"Dynamic analysis and sliding mode control method of 5-DOF manipulator","authors":"Q. Jiang, Kai Cai, Ming Ma","doi":"10.12688/cobot.17574.1","DOIUrl":null,"url":null,"abstract":"Background: The five degree of freedom (5-DOF) manipulator greatly improves the machining efficiency and accuracy because of its high flexibility. They see wide application in various automation fields. The dynamic analysis and modeling of manipulators is of great significance to improve the working accuracy of a manipulator. Methods: For the robot task of sheet metal bending, a 5-DOF manipulator based on sliding mode control strategy is designed in this paper. Firstly, the dynamics of the 5-DOF manipulator is analyzed and the dynamic equation is established. Secondly, based on the principle of sliding mode control, a proportional integral (PI) sliding mode control method for 5-DOF manipulator based on nominal model is proposed. Finally, the sliding mode control simulation experiment of 5-DOF manipulator is carried out to verify its stability. Results: The 5-DOF manipulator with PI sliding mode control has a good control effect by overcoming the influence of modeling error due to its strong robustness, and effectively realizes good control stability. Conclusions: The experimental results show that the 5-DOF manipulator has good response speed and stability. The results also suggest that the manipulator can be widely used in complex scenarios such as medical surgery or industrial production line with high safety requirements.","PeriodicalId":29807,"journal":{"name":"Cobot","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2022-08-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Cobot","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.12688/cobot.17574.1","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 1
Abstract
Background: The five degree of freedom (5-DOF) manipulator greatly improves the machining efficiency and accuracy because of its high flexibility. They see wide application in various automation fields. The dynamic analysis and modeling of manipulators is of great significance to improve the working accuracy of a manipulator. Methods: For the robot task of sheet metal bending, a 5-DOF manipulator based on sliding mode control strategy is designed in this paper. Firstly, the dynamics of the 5-DOF manipulator is analyzed and the dynamic equation is established. Secondly, based on the principle of sliding mode control, a proportional integral (PI) sliding mode control method for 5-DOF manipulator based on nominal model is proposed. Finally, the sliding mode control simulation experiment of 5-DOF manipulator is carried out to verify its stability. Results: The 5-DOF manipulator with PI sliding mode control has a good control effect by overcoming the influence of modeling error due to its strong robustness, and effectively realizes good control stability. Conclusions: The experimental results show that the 5-DOF manipulator has good response speed and stability. The results also suggest that the manipulator can be widely used in complex scenarios such as medical surgery or industrial production line with high safety requirements.
期刊介绍:
Cobot is a rapid multidisciplinary open access publishing platform for research focused on the interdisciplinary field of collaborative robots. The aim of Cobot is to enhance knowledge and share the results of the latest innovative technologies for the technicians, researchers and experts engaged in collaborative robot research. The platform will welcome submissions in all areas of scientific and technical research related to collaborative robots, and all articles will benefit from open peer review.
The scope of Cobot includes, but is not limited to:
● Intelligent robots
● Artificial intelligence
● Human-machine collaboration and integration
● Machine vision
● Intelligent sensing
● Smart materials
● Design, development and testing of collaborative robots
● Software for cobots
● Industrial applications of cobots
● Service applications of cobots
● Medical and health applications of cobots
● Educational applications of cobots
As well as research articles and case studies, Cobot accepts a variety of article types including method articles, study protocols, software tools, systematic reviews, data notes, brief reports, and opinion articles.