Trajectory Tracking Control of UR5 Robot Manipulator Using Fuzzy Gain Scheduling Terminal Sliding Mode Controller

IF 0.9 Q4 ROBOTICS

Journal of Robotics and Mechatronics Pub Date : 2020-01-01 DOI:10.3844/jmrsp.2020.113.135

Andualem Welabo, Gebremichael Tesfamariamr

引用次数: 2

Abstract

In dealing with the trajectory tracking control of robotic manipulator many scholars have had to work in a sliding mode controller. However, SMC has two major limitations one is chattering the other is asymptotical convergence. The chattering problem occurs in traditional SMC due to the switching function of the discontinuous controller and the constant gain parameter of K. Though in this study a Fuzzy Gain Scheduling Terminal Sliding Mode (FGSTSM) controller with a hyperbolic tangent function instead of signum function, is proposed and applied for tracking control of the UR5 robot manipulator. Moreover, the mathematical model of the UR5 robot manipulator using the Newton-Euler algorithm was developed on Maple software of version Maple 18.2. Hence the trajectory tracking control of the UR5 robot manipulator simulation was conducted on MATLAB/SIMULINK of version Matlab R2016a. Then for simulation purposes, a curve (arc) was taken as the desired trajectory for the robot manipulator to track and finally the result is compared with the conventional SMC controller.

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基于模糊增益调度终端滑模控制器的UR5机器人轨迹跟踪控制

在研究机器人的轨迹跟踪控制时，许多学者不得不在滑模控制器中进行研究。然而，SMC有两个主要的限制，一个是抖振，另一个是渐近收敛。本文提出了一种模糊增益调度终端滑模控制器(FGSTSM)，采用双曲正切函数代替sgum函数，并将其应用于UR5机器人机械手的跟踪控制。利用Newton-Euler算法在Maple 18.2版本的Maple软件上建立了UR5机械手的数学模型。因此，在MATLAB R2016a版本的MATLAB/SIMULINK上对UR5机器人机械手的轨迹跟踪控制进行仿真。然后，为了仿真目的，以曲线(圆弧)作为机器人机械臂跟踪的期望轨迹，最后将结果与传统的SMC控制器进行比较。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Journal of Robotics and Mechatronics ROBOTICS-

CiteScore

2.20

自引率

36.40%

发文量

134

期刊介绍： First published in 1989, the Journal of Robotics and Mechatronics (JRM) has the longest publication history in the world in this field, publishing a total of over 2,000 works exclusively on robotics and mechatronics from the first number. The Journal publishes academic papers, development reports, reviews, letters, notes, and discussions. The JRM is a peer-reviewed journal in fields such as robotics, mechatronics, automation, and system integration. Its editorial board includes wellestablished researchers and engineers in the field from the world over. The scope of the journal includes any and all topics on robotics and mechatronics. As a key technology in robotics and mechatronics, it includes actuator design, motion control, sensor design, sensor fusion, sensor networks, robot vision, audition, mechanism design, robot kinematics and dynamics, mobile robot, path planning, navigation, SLAM, robot hand, manipulator, nano/micro robot, humanoid, service and home robots, universal design, middleware, human-robot interaction, human interface, networked robotics, telerobotics, ubiquitous robot, learning, and intelligence. The scope also includes applications of robotics and automation, and system integrations in the fields of manufacturing, construction, underwater, space, agriculture, sustainability, energy conservation, ecology, rescue, hazardous environments, safety and security, dependability, medical, and welfare.