Sliding Modes for a Manipulator Arm of 4 Degrees of Freedom

Angie Valencia, Oscar Aviles, Mauricio Mauledoux

Abstract


The first step in designing a controller for a manipulating arm is to determine its configuration, which means, analyzing the main components that make up the mechanism. A manipulating arm is composed of joints, motors, sensors and other elements, which are linked to conform the different degrees of freedom (generalized coordinates: prismatic, rotational or a combination of both, which is presented as the most unusual), which allow the calculation of the dynamic model implemented to obtain the control specifications [1]. In this paper, the calculation of a controller by sliding modes for a manipulator arm with 4 rotational degrees of freedom will be done, showing the respective results and conclusions at the end.

 


Keywords


Arm Manipulator, Articulated Pair, Degrees of freedom, Dynamic Model, Generalized Coordinates, Sliding Modes Controller

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International Journal of Online and Biomedical Engineering (iJOE) – eISSN: 2626-8493
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