Skip to main content
SpringerLink
Log in

Design of a fuzzy-sliding mode controller for a SCARA robot to reduce chattering

  • Published:
KSME International Journal Aims and scope Submit manuscript

Abstract

To overcome problems in tracking error related to the unmodeled dynamics in the high speed operation of industrial robots, many researchers have used sliding mode control, which is robust against parameter variations and payload changes. However, these algorithms cannot reduce the inherent chattering which is caused by excessive switching inputs around the sliding surface. This study proposes a fuzzy-sliding mode control algorithm to reduce the chattering of the sliding mode control by fuzzy rules within a pre-determined dead zone. Trajectory tracking simulations and experiments show that chattering can be reduced prominently by the fuzzysliding mode control algorithm compared to a sliding mode control with two dead zones, and the proposed control algorithm is robust to changes in payload. The proposed control algorithm is implemented to the SCARA (selected compliance articulated robot assembly) robot using a DSP (digital signal processor) for high speed calculations.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  • Cin, C. T. and Lee, C. S. G., 1996,Neural Fuzzy System, Prentice-Hall.

  • Dong, Y. and Shifan, Xu, 1996, “sliding Mode Control of Singular Perturbation Systems,”IEEE Int. Conference on System, Man and Cybernetics, pp. 113–116.

  • Fu, K. S., Gonzalez, R. C. and Lee, C. S. G., 1987,Robotics, McGraw-Hill.

  • Furuta, T. and Tomiyama, K., 1996, “Sliding Mode Controller with Time-Varying Hyperplane,”Proc. of the IEEE/RSJ Int. Conference on Intelligent Robots and Systems, pp. 576–581.

  • Harashima, F., Hashimoto, H. and Maruyama, K., 1986, “Sliding Mode Control of Manipulator with Time-Varying Switching Surfaces,”Trans. of SICE, Vol. 22, No. 3, pp. 335–342.

    Google Scholar 

  • Hashimoto, H., Maruyama, K. and Harashima, F., 1987, “A Microprocessor-Based Robot Manipulator Control with Sliding Mode,”IEEE Trans. Industrial Electronics, Vol. 34, No. 1, pp. 11–18.

    Article  Google Scholar 

  • Lee, M. C. and Aoshima, N., 1989, “Identification and Its evaluation of the System with a Nonlinear Element by Signal Compression Method,”Trans. of SICE, Vol. 25, No. 7, pp. 729–736.

    Google Scholar 

  • Lee, M. C. and Aoshima, N., 1993, “Real Time Multi-Input Sliding Mode Control of a Robot Manipulator Based on DSP,”Proc. of SICE, pp. 1223–1228.

  • Lee, M. C. and Go, S. J., 1997, “Real Time Fuzzy-Sliding Mode Control for SCARA Robot Based on DSP,”Proc. of 2nd Asian Control Conference, Vol. II, pp. 599–602.

    Google Scholar 

  • Lee, M. C. and Shin, K. T., 1997, “Development of a Dynamic Simulator for SCARA Robot Using Sliding Mode Control,”KSME (A), Vol. 21, No. 4, pp. 535–548.

    Google Scholar 

  • Lee, M. C., Son, K. and Lee, J. M., 1998, “Improving Tracking Performance of Industrial SCARA Robots Using a New Sliding Mode Control Algorithm,”KSME International Journal, Vol. 12, No. 5, pp. 761–772.

    Google Scholar 

  • Lee, M. C., Son, K., Lee, J. M., Lee, M. H., Ahn, D. S. and Han, S. H., 1995, “Implementation of a New Sliding Mode Control for SCARA ROBOT,”Proc. of the ′95 American Control Conference. Vol 2 of 6 pp. 1387–1391.

    Article  Google Scholar 

  • Mohammad, J., Nader, U. and Timothy, J. R., 1993,Fuzzy Logic and Control, Prentice-Hall.

  • Robot, J. M., 1994,Fuzzy logic Technology and Applications, IEEE Technical Activities Board.

  • Slotine, J. J. E., 1985, “The Robust Control of Robot Manipulators,”Int. Journal of Robotics Research, Vol. 4, No. 4, pp. 49–64.

    Article  Google Scholar 

  • Son, K., Lee, M. C., Lee, J. M., Han, S. H., Lee, M. H. and Kim, S. K., 1997, “Real-Time Evaluation of an Off-Line Programming System for SCARA Robot,”Proc. of 2nd Asian Control Conference, Vol. 1, pp. 89–92.

    Google Scholar 

  • Young, K. K. D., 1978, “Controller Design for Manipulator Using Theory of Variable Structure Systems,”IEEE Trans. on System, Man and Cybernetics, Vol. 8, No. 2, pp. 101–109.

    Article  MATH  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Department of Machine System, Dongeui Institute of Technology, Korea

    Seok Jo Go

  2. School of Mechanical Engineering, Pusan National University, 30, Jangjeon-dong, Kumjeonggu, 609-735, Pusan, Korea

    Min Cheol Lee (Professor)

Authors
  1. Seok Jo Go
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Min Cheol Lee
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Min Cheol Lee.

Additional information

First Author

Rights and permissions

Reprints and permissions

About this article

Cite this article

Go, S.J., Lee, M.C. Design of a fuzzy-sliding mode controller for a SCARA robot to reduce chattering. KSME International Journal 15, 339–350 (2001). https://doi.org/10.1007/BF03185217

Download citation

  • Received:

  • Revised:

  • Issue Date:

  • DOI: https://doi.org/10.1007/BF03185217

Key Words

Search

Navigation