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International Conference on Advanced Intelligent Systems and Informatics

AISI 2019: Proceedings of the International Conference on Advanced Intelligent Systems and Informatics 2019 pp 266–276Cite as

Adaptive Terminal-Integral Sliding Mode Force Control of Elastic Joint Robot Manipulators in the Presence of Hysteresis

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Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 1058))

Abstract

In this paper, an adaptive terminal-integral sliding mode force control of elastic joint robot manipulators in the presence of hysteresis is proposed. One of the most important issues that is solved in this study is that the hysteresis phenomenon is considered something that provokes losses in the manipulator motion and controller errors. Force control is necessary because it can be implemented and very useful in the area of industrial robotics such as collaborative and cooperative robotics. Therefore, it can be implemented for precise control in which robot-operator or robot-robot interaction is needed. An adaptive terminal-integral sliding mode force control is proposed by considering the hysteresis and the effects between the end effector and a flexible environment. Force control has not been studied extensively nowadays and even less for elastic joint robot manipulators. Thus, to improve the system precision control, the adaptive sliding mode controller (ASMC) is designed by a Lyapunov approach obtaining the adaptive and controller laws, respectively. As an experimental case study, two links elastic joint robot manipulator is considered by obtaining the elastic joint model with hysteresis using a Bouc-Wen model.

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Acknowledgments

This work is supported by the Robotics and Internet of Things lab of Prince Sultan University, Saudi Arabia.

Author information

Authors and Affiliations

  1. College of Engineering, Prince Sultan University, Riyadh, Kingdom of Saudi Arabia

    Ahmad Taher Azar

  2. Faculty of Computers and Artificial Intelligence, Benha University, Benha, Egypt

    Ahmad Taher Azar

  3. Universidad Tecnologica Centroamericana (UNITEC), Tegucigalpa, Honduras

    Fernando E. Serrano

  4. Prince Sultan University, Riyadh, Kingdom of Saudi Arabia

    Anis Koubaa

  5. CISTER, INESC-TEC, ISEP, Polytechnic Institute of Porto, Porto, Portugal

    Anis Koubaa

  6. Gaitech Robotics, Shanghai, China

    Anis Koubaa

  7. Electrical Power and Machine Department, Faculty of Engineering, Cairo University, Giza, Egypt

    Nashwa Ahmad Kamal

  8. Research and Development Centre, Vel Tech University Avadi, Chennai, 600062, Tamilnadu, India

    Sundarapandian Vaidyanathan

  9. Electrical Engineering Advanced Technology Laboratory (LATAGE), University Mouloud Mammeri of Tizi-Ouzou, Tizi Ouzou, Algeria

    Arezki Fekik

Authors
  1. Ahmad Taher Azar
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  2. Fernando E. Serrano
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  3. Anis Koubaa
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  4. Nashwa Ahmad Kamal
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  5. Sundarapandian Vaidyanathan
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  6. Arezki Fekik
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Corresponding author

Correspondence to Ahmad Taher Azar .

Editor information

Editors and Affiliations

  1. Cairo University, Giza, Egypt

    Aboul Ella Hassanien

  2. The British University in Dubai, Dubai, United Arab Emirates

    Khaled Shaalan

  3. Ain Shams University, Cairo, Egypt

    Mohamed Fahmy Tolba

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Azar, A.T., Serrano, F.E., Koubaa, A., Kamal, N.A., Vaidyanathan, S., Fekik, A. (2020). Adaptive Terminal-Integral Sliding Mode Force Control of Elastic Joint Robot Manipulators in the Presence of Hysteresis. In: Hassanien, A., Shaalan, K., Tolba, M. (eds) Proceedings of the International Conference on Advanced Intelligent Systems and Informatics 2019. AISI 2019. Advances in Intelligent Systems and Computing, vol 1058. Springer, Cham. https://doi.org/10.1007/978-3-030-31129-2_25

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