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Variable structure control for a two-link robot arm

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Abstract

In this paper, a variable structure control method for a two-link robot arm with/without look-up tables is proposed. The stability of the control system is proven. Robustness against parametric variation and external disturbance is achieved. Suitable controller gains are picked up from the angle-related tables to fulfill the control law. The proposed method retains the benefit of variable structure control and further curtails computation time. An additional advantage is that it is not necessary to measure or observe joint angular velocities.

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Abbreviations

qi:

the joint angle of joint i

mi:

the mass of link i

ml:

the mass of load

Ii:

the moment of inertia of link i about the axis that passes through the center of mass and is parallel to the Z axis

li:

the length of link i

lci :

the distance between joint i and the center of mass of link i (the center of mass is assumed to be on the straight line connecting these two points and parallel to link i)

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Acknowledgements

The author would like to thank the National Science Council of Taiwan, ROC, for financially supporting this work under Grant NSC91-2213-E155-013.

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Authors and Affiliations

  1. Department of Electrical Engineering, Yuan Ze University, 135 Far-East Road, Chung-Li, Taiwan ROC

    Y. J. Huang

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  1. Y. J. Huang
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Correspondence to Y. J. Huang.

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Huang, Y.J. Variable structure control for a two-link robot arm. Electr Eng 85, 195–204 (2003). https://doi.org/10.1007/s00202-003-0167-5

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  • DOI: https://doi.org/10.1007/s00202-003-0167-5

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