Feedback-based IKP solution with SMC for robotic manipulators: the SCARA example

Year 2018, Volume: 2 Issue: 1, 27 - 32, 15.04.2018

Tolgay Kara , Ali Hussien Mary

Abstract

This paper presents a novel
scheme for solving inverse kinematics problem (IKP) of a multi-link robotic
manipulator. Important features of the proposed strategy are generality and
simplicity regardless of the number of degrees of freedom (DOF) and geometry of
the robot. The proposed method is a feedback strategy where the IKP solution is
expressed as a dynamic control system whose goal is to maintain satisfactory
trajectory tracking. As a simulation test to reveal the performance of proposed
scheme, a four DOF Selective Compliance Assembly Robot Arm (SCARA) system is
considered. Feedback law in proposed closed-loop solution method is selected as
a combination of Sliding Mode Control (SMC) and Proportional-Derivative (PD) control
for providing simplicity and robustness. Simulation results are used to show
the efficacy of proposed IKP solution approach in comparison with commonly used
neural networks (NN) based IKP solution method. Results reveal that proposed
method yields the solution of IKP with satisfactory performance.

Keywords

Inverse kinematics problem, Multi-link robotic manipulators, SCARA robot

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