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| PUMA-560 Robot Manipulator Position Sliding Mode Control Methods Using MATLAB/SIMULINK and Their Integration into Graduate/Undergraduate Nonlinear Control, Robotics and MATLAB Courses
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Full
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Source |
International Journal of Robotics and Automation (IJRA) |
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Table of Contents |
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Volume: 3 Issue: 3 |
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Pages: |
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Publication
Date: June 2012 |
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ISSN
(Online): 2180-1312 |
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Pages |
106 - 150 |
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Author(s) |
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Published
Date |
20-06-2012 |
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Publisher |
CSC
Journals, Kuala Lumpur,
Malaysia |
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ADDITIONAL
INFORMATION |
| Keywords Abstract References Cited by Related Articles Collaborative
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KEYWORDS: MATLAB/SIMULINK, PUMA 560 Robot Manipulator, Position Control Method, Sliding Mode Control, Robotics |
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| This paper describes the MATLAB/SIMULINK realization, modeling and implementation of the PUMA 560 robot manipulator. This paper focuses on robot manipulator analysis and implementation and analyzed. This simulation models are developed as a part of a software laboratory to support and enhance graduate robotics courses, and MATLAB/SIMULINK courses at research and development company (SSP Co.) research center, Shiraz, Iran. |
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T. R. Kurfess, Robotics and automation handbook: CRC, 2005.
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J. J. E. Slotine and W. Li, Applied nonlinear control vol. 461: Prentice hall Englewood Cliffs, NJ, 1991.
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K. Ogata, Modern control engineering: Prentice Hall, 2009.
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L. Cheng, Z. G. Hou, M. Tan, D. Liu and A. M. Zou, "Multi-agent based adaptive consensus control for multiple manipulators with kinematic uncertainties," 2008, pp. 189-194.
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J. J. D'Azzo, C. H. Houpis and S. N. Sheldon, Linear control system analysis and design with MATLAB: CRC, 2003.
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B. Siciliano and O. Khatib, Springer handbook of robotics: Springer-Verlag New York Inc, 2008.
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I. Boiko, L. Fridman, A. Pisano and E. Usai, "Analysis of chattering in systems with secondorder sliding modes," IEEE Transactions on Automatic Control, No. 11, vol. 52,pp. 2085- 2102, 2007.
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J. Wang, A. Rad and P. Chan, "Indirect adaptive fuzzy sliding mode control: Part I: fuzzy switching," Fuzzy Sets and Systems, No. 1, vol. 122,pp. 21-30, 2001.
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C. Wu, "Robot accuracy analysis based on kinematics," IEEE Journal of Robotics and Automation, No. 3, vol. 2, pp. 171-179, 1986.
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H. Zhang and R. P. Paul, "A parallel solution to robot inverse kinematics," IEEE conference proceeding, 2002, pp. 1140-1145.
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| Farzin Piltan : Colleagues
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| Sara Emamzadeh : Colleagues
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| Zahra Hivand : Colleagues
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| Forouzan Shahriyari : Colleagues
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| Mina Mirzaei : Colleagues
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