Study on Sliding Mode Control for Master and Slave Manipulator
Master and slave manipulator was widely used due to it could reach the working environment which is not convenient for human to reach, in order to make the manipulator control system has good tracking performance, a control strategy based on sliding mode control was proposed for master-slave manipulator control system, Considering the quality and stability of servo system will be effected by the chattering phenomenon in the SMC, a reaching law approach is used to overcome the chattering phenomenon. The proposed control strategy makes the master and slave manipulator has good performances on force and position tracking, and the chattering problem has also been reduced. Simulation and experiments results show that the proposed control strategy can be good performances on the force and position tracking; and the problem of chattering has also been inhibited obviously, the stability and quality of the master and slave manipulator has been improved.
Master and slave manipulator sliding mode control chattering reaching law simulation
Rui Tang Li Hou Qi Zhang
School of Machinery and Engineering PanZhihua University PANZHIHUA, CHINA School of Manufacturing Science and Engineering Sichuan University CHENGDU, CHINA
国际会议
太原
英文
291-294
2011-02-26（万方平台首次上网日期，不代表论文的发表时间）