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Load transportation by dual arm robot using sliding mode control

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Abstract

In this study, a sliding mode controlled dual arm robotic system was designed. Such multi-arm, collaborative and synchronous robots typically are employed in hazardous situations such as radioactive materials transport explosives disposal and industrial applications. In the present study, a high performance, robust, non-chattering sliding mode controller (SMC) was developed for the purpose of safe load handling, transportation and trajectory realization. First, dynamic equations of robot/load interaction were derived. Then, the robust SMC was designed for the dual arm robotic system. In order to test the robustness of the proposed SMC, parameter variations and external disturbances were introduced to the system. Furthermore, for comparative purposes, the conventional and widely used, PID controller was also applied to the dual arm robot. Significantly, it was found that the SMC made smaller trajectory tracking errors than the PID controller. An overall analysis of the numerical results confirmed that the dual-arm robotic systems with the proposed SMC can safely and effectively be used in hazardous applications.

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Authors and Affiliations

  1. Department of Mechanical Engineering, Faculty of Engineering, Istanbul University, 34320, Avcilar, Istanbul, Turkey

    Nurkan Yagiz, Yuksel Hacioglu & Yunus Ziya Arslan

Authors
  1. Nurkan Yagiz
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  2. Yuksel Hacioglu
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  3. Yunus Ziya Arslan
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Corresponding author

Correspondence to Nurkan Yagiz.

Additional information

This paper was recommended for publication in revised form by Associate Editor Doo Yong Lee

Nurkan Yagiz received his B.S. and M.S. degrees from the Department of Mechanical Engineering, Middle East Technical University, Ankara, Turkey, in 1984 and 1986, respectively, and his Ph.D. degree from the Department of Mechanical Engineering, Faculty of Engineering, Istanbul University, Istanbul, Turkey, in 1993. He is currently a Professor with the Department of Mechanical Engineering, Faculty of Engineering, Istanbul University. His research areas include modeling and control of vehicle systems, control of structural vibrations, and nonlinear control theory.

Yuksel Hacioglu received his B.S., M.S. and Ph.D. degrees from the Department of Mechanical Engineering, Faculty of Engineering, Istanbul University, Istanbul, Turkey, in 2002, 2004 and 2009, respectively. He is currently an Assistant Professor with the Department of Mechanical Engineering, Faculty of Engineering, Istanbul University. His research areas include modeling and control of robotic manipulators and vehicle suspension systems, nonlinear control theory, and fuzzy logic.

Yunus Ziya Arslan received his B.Sc. degree in 2002, his M.Sc. degree in 2005 and his Ph.D. degree in 2009, all from the Department of Mechanical Engineering, Faculty of Engineering, Istanbul University, Istanbul, Turkey. He is currently an Assistant Professor with the Department of Mechanical Engineering, Faculty of Engineering, Istanbul University. His research areas include biomechanics of musculoskeletal systems, as well as modeling and control of robotic manipulators.

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Yagiz, N., Hacioglu, Y. & Arslan, Y.Z. Load transportation by dual arm robot using sliding mode control. J Mech Sci Technol 24, 1177–1184 (2010). https://doi.org/10.1007/s12206-010-0312-9

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  • DOI: https://doi.org/10.1007/s12206-010-0312-9

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