Real-Time Implementation of Sliding Mode Control Technique for Two-DOF Industrial Robotic Arm

Öz

This study presents a real-time implementation of the angle trajectory tracking control for the two

DOF industrial robotic manipulators. For real-time trajectory tracking control, the classical proportional–integral–

derivative (PID) control and the nonlinear Sliding Mode Control techniques have been considered. The SMC

technique takes into account the complete dynamic model of the two DOF robot to increase the trajectory tracking

performance of the manipulator. The experimental results demonstrate that the nonlinear SMC method has improved

the trajectory tracking performance compared with the PID method.

Anahtar Kelimeler

• PID control,robot control,sliding mode control,trajectory control

İki Serbestlik Derecesine Sahip Endüstriyel Bir Robotun Kayan Kipli Kontrol Yöntemi ile Kontrolünün Gerçek Zamanlı Uygulaması

Öz

Bu çalışmada, iki serbestlik derecesine sahip bir endüstriyel robot kolunun analizi, tasarımı ve gerçek

zamanlı açısal yörünge takip kontrolü gerçekleştirilmiştir. Sistemin tanımlanan yörüngeyi en iyi doğrulukta takip

edebilmesi için klasik oransal-integral-türev denetleyicisi (PID) ile doğrusal olmayan Kayan Kipli Kontrol (SMC)

yöntemlerinden yararlanılmıştır. Doğrusal olmayan Kayan Kipli Kontrol tekniği, robotun tam dinamik modelini

göz önüne aldığından dolayı, manipülatörün yörünge izleme performansını arttırabilmektedir. Önerilen sistem için

iki farklı kontrol yöntemi gerçek zamanlı olarak uygulanmıştır. Yapılan gerçek zamanlı yörünge izleme performans

deneylerinden elde edilen sonuçlara göre, Kayan Kipli Kontrol yönteminin sistemdeki belirsizliklere ve bozucu

etkilere karşı gürbüz bir kontrol yöntemi olmasından dolayı bu kontrol tekniğinin klasik bir PID denetleyicisine

göre, robotik manipülatörün yörünge izleme performansını arttırdığı kanıtlanmıştır.

Anahtar Kelimeler

• Kayan kipli kontrol,PID kontrol,robot kontrol,yörünge kontrol

Kaynakça

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