Sliding Mode Control for a Hybrid Force Control Scheme of a Robot Manipulator Under Uncertain Dynamics
Abstract This paper presents the sliding mode control method for separate position and force control of a hybrid force control scheme in robot manipulation. Integral sliding mode control (ISMC) functions are defined and applied to both position and force controlled direction separately to improve th...
Ausführliche Beschreibung
Gespeichert in:
| Autor*in: |
Jung, Seul [verfasserIn] |
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| Format: |
E-Artikel |
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| Sprache: |
Englisch |
| Erschienen: |
2023 |
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| Schlagwörter: |
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| Anmerkung: |
© ICROS, KIEE and Springer 2023 |
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| Übergeordnetes Werk: |
Enthalten in: International Journal of Control, Automation and Systems - Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers, 2009, 21(2023), 5 vom: Mai, Seite 1634-1643 |
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| Übergeordnetes Werk: |
volume:21 ; year:2023 ; number:5 ; month:05 ; pages:1634-1643 |
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| DOI / URN: |
10.1007/s12555-022-0756-6 |
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SPR050269402 |
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| 520 | |a Abstract This paper presents the sliding mode control method for separate position and force control of a hybrid force control scheme in robot manipulation. Integral sliding mode control (ISMC) functions are defined and applied to both position and force controlled direction separately to improve the control performances by minimizing the ill effect of uncertain dynamics. Stability of integral sliding mode control for both position and force-controlled direction is analyzed in a Lyapunov sense under the decomposed sub-dynamics configurations based on the independent axis control. The sliding mode force control scheme was expected to show the better tracking performance by taking care of not only external disturbance but also internal uncertainties of a robot manipulator. Force control tasks of a three-link robot manipulator are tested with nonmodel dynamics under unknown uncertainties and their performances are compared. | ||
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10.1007/s12555-022-0756-6 doi (DE-627)SPR050269402 (SPR)s12555-022-0756-6-e DE-627 ger DE-627 rakwb eng Jung, Seul verfasserin (orcid)0000-0002-1670-4518 aut Sliding Mode Control for a Hybrid Force Control Scheme of a Robot Manipulator Under Uncertain Dynamics 2023 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © ICROS, KIEE and Springer 2023 Abstract This paper presents the sliding mode control method for separate position and force control of a hybrid force control scheme in robot manipulation. Integral sliding mode control (ISMC) functions are defined and applied to both position and force controlled direction separately to improve the control performances by minimizing the ill effect of uncertain dynamics. Stability of integral sliding mode control for both position and force-controlled direction is analyzed in a Lyapunov sense under the decomposed sub-dynamics configurations based on the independent axis control. The sliding mode force control scheme was expected to show the better tracking performance by taking care of not only external disturbance but also internal uncertainties of a robot manipulator. Force control tasks of a three-link robot manipulator are tested with nonmodel dynamics under unknown uncertainties and their performances are compared. Hybrid force control (dpeaa)DE-He213 integral sliding mode control (dpeaa)DE-He213 robot manipulators (dpeaa)DE-He213 uncertain dynamics (dpeaa)DE-He213 Enthalten in International Journal of Control, Automation and Systems Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers, 2009 21(2023), 5 vom: Mai, Seite 1634-1643 (DE-627)SPR026303256 nnns volume:21 year:2023 number:5 month:05 pages:1634-1643 https://dx.doi.org/10.1007/s12555-022-0756-6 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_21 GBV_ILN_24 GBV_ILN_72 GBV_ILN_181 GBV_ILN_496 GBV_ILN_2002 GBV_ILN_2003 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2011 GBV_ILN_2060 GBV_ILN_2470 AR 21 2023 5 05 1634-1643 |
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10.1007/s12555-022-0756-6 doi (DE-627)SPR050269402 (SPR)s12555-022-0756-6-e DE-627 ger DE-627 rakwb eng Jung, Seul verfasserin (orcid)0000-0002-1670-4518 aut Sliding Mode Control for a Hybrid Force Control Scheme of a Robot Manipulator Under Uncertain Dynamics 2023 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © ICROS, KIEE and Springer 2023 Abstract This paper presents the sliding mode control method for separate position and force control of a hybrid force control scheme in robot manipulation. Integral sliding mode control (ISMC) functions are defined and applied to both position and force controlled direction separately to improve the control performances by minimizing the ill effect of uncertain dynamics. Stability of integral sliding mode control for both position and force-controlled direction is analyzed in a Lyapunov sense under the decomposed sub-dynamics configurations based on the independent axis control. The sliding mode force control scheme was expected to show the better tracking performance by taking care of not only external disturbance but also internal uncertainties of a robot manipulator. Force control tasks of a three-link robot manipulator are tested with nonmodel dynamics under unknown uncertainties and their performances are compared. Hybrid force control (dpeaa)DE-He213 integral sliding mode control (dpeaa)DE-He213 robot manipulators (dpeaa)DE-He213 uncertain dynamics (dpeaa)DE-He213 Enthalten in International Journal of Control, Automation and Systems Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers, 2009 21(2023), 5 vom: Mai, Seite 1634-1643 (DE-627)SPR026303256 nnns volume:21 year:2023 number:5 month:05 pages:1634-1643 https://dx.doi.org/10.1007/s12555-022-0756-6 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_21 GBV_ILN_24 GBV_ILN_72 GBV_ILN_181 GBV_ILN_496 GBV_ILN_2002 GBV_ILN_2003 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2011 GBV_ILN_2060 GBV_ILN_2470 AR 21 2023 5 05 1634-1643 |
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10.1007/s12555-022-0756-6 doi (DE-627)SPR050269402 (SPR)s12555-022-0756-6-e DE-627 ger DE-627 rakwb eng Jung, Seul verfasserin (orcid)0000-0002-1670-4518 aut Sliding Mode Control for a Hybrid Force Control Scheme of a Robot Manipulator Under Uncertain Dynamics 2023 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © ICROS, KIEE and Springer 2023 Abstract This paper presents the sliding mode control method for separate position and force control of a hybrid force control scheme in robot manipulation. Integral sliding mode control (ISMC) functions are defined and applied to both position and force controlled direction separately to improve the control performances by minimizing the ill effect of uncertain dynamics. Stability of integral sliding mode control for both position and force-controlled direction is analyzed in a Lyapunov sense under the decomposed sub-dynamics configurations based on the independent axis control. The sliding mode force control scheme was expected to show the better tracking performance by taking care of not only external disturbance but also internal uncertainties of a robot manipulator. Force control tasks of a three-link robot manipulator are tested with nonmodel dynamics under unknown uncertainties and their performances are compared. Hybrid force control (dpeaa)DE-He213 integral sliding mode control (dpeaa)DE-He213 robot manipulators (dpeaa)DE-He213 uncertain dynamics (dpeaa)DE-He213 Enthalten in International Journal of Control, Automation and Systems Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers, 2009 21(2023), 5 vom: Mai, Seite 1634-1643 (DE-627)SPR026303256 nnns volume:21 year:2023 number:5 month:05 pages:1634-1643 https://dx.doi.org/10.1007/s12555-022-0756-6 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_21 GBV_ILN_24 GBV_ILN_72 GBV_ILN_181 GBV_ILN_496 GBV_ILN_2002 GBV_ILN_2003 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2011 GBV_ILN_2060 GBV_ILN_2470 AR 21 2023 5 05 1634-1643 |
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10.1007/s12555-022-0756-6 doi (DE-627)SPR050269402 (SPR)s12555-022-0756-6-e DE-627 ger DE-627 rakwb eng Jung, Seul verfasserin (orcid)0000-0002-1670-4518 aut Sliding Mode Control for a Hybrid Force Control Scheme of a Robot Manipulator Under Uncertain Dynamics 2023 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © ICROS, KIEE and Springer 2023 Abstract This paper presents the sliding mode control method for separate position and force control of a hybrid force control scheme in robot manipulation. Integral sliding mode control (ISMC) functions are defined and applied to both position and force controlled direction separately to improve the control performances by minimizing the ill effect of uncertain dynamics. Stability of integral sliding mode control for both position and force-controlled direction is analyzed in a Lyapunov sense under the decomposed sub-dynamics configurations based on the independent axis control. The sliding mode force control scheme was expected to show the better tracking performance by taking care of not only external disturbance but also internal uncertainties of a robot manipulator. Force control tasks of a three-link robot manipulator are tested with nonmodel dynamics under unknown uncertainties and their performances are compared. Hybrid force control (dpeaa)DE-He213 integral sliding mode control (dpeaa)DE-He213 robot manipulators (dpeaa)DE-He213 uncertain dynamics (dpeaa)DE-He213 Enthalten in International Journal of Control, Automation and Systems Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers, 2009 21(2023), 5 vom: Mai, Seite 1634-1643 (DE-627)SPR026303256 nnns volume:21 year:2023 number:5 month:05 pages:1634-1643 https://dx.doi.org/10.1007/s12555-022-0756-6 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_21 GBV_ILN_24 GBV_ILN_72 GBV_ILN_181 GBV_ILN_496 GBV_ILN_2002 GBV_ILN_2003 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2011 GBV_ILN_2060 GBV_ILN_2470 AR 21 2023 5 05 1634-1643 |
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10.1007/s12555-022-0756-6 doi (DE-627)SPR050269402 (SPR)s12555-022-0756-6-e DE-627 ger DE-627 rakwb eng Jung, Seul verfasserin (orcid)0000-0002-1670-4518 aut Sliding Mode Control for a Hybrid Force Control Scheme of a Robot Manipulator Under Uncertain Dynamics 2023 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © ICROS, KIEE and Springer 2023 Abstract This paper presents the sliding mode control method for separate position and force control of a hybrid force control scheme in robot manipulation. Integral sliding mode control (ISMC) functions are defined and applied to both position and force controlled direction separately to improve the control performances by minimizing the ill effect of uncertain dynamics. Stability of integral sliding mode control for both position and force-controlled direction is analyzed in a Lyapunov sense under the decomposed sub-dynamics configurations based on the independent axis control. The sliding mode force control scheme was expected to show the better tracking performance by taking care of not only external disturbance but also internal uncertainties of a robot manipulator. Force control tasks of a three-link robot manipulator are tested with nonmodel dynamics under unknown uncertainties and their performances are compared. Hybrid force control (dpeaa)DE-He213 integral sliding mode control (dpeaa)DE-He213 robot manipulators (dpeaa)DE-He213 uncertain dynamics (dpeaa)DE-He213 Enthalten in International Journal of Control, Automation and Systems Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers, 2009 21(2023), 5 vom: Mai, Seite 1634-1643 (DE-627)SPR026303256 nnns volume:21 year:2023 number:5 month:05 pages:1634-1643 https://dx.doi.org/10.1007/s12555-022-0756-6 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_21 GBV_ILN_24 GBV_ILN_72 GBV_ILN_181 GBV_ILN_496 GBV_ILN_2002 GBV_ILN_2003 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2011 GBV_ILN_2060 GBV_ILN_2470 AR 21 2023 5 05 1634-1643 |
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Sliding Mode Control for a Hybrid Force Control Scheme of a Robot Manipulator Under Uncertain Dynamics |
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Abstract This paper presents the sliding mode control method for separate position and force control of a hybrid force control scheme in robot manipulation. Integral sliding mode control (ISMC) functions are defined and applied to both position and force controlled direction separately to improve the control performances by minimizing the ill effect of uncertain dynamics. Stability of integral sliding mode control for both position and force-controlled direction is analyzed in a Lyapunov sense under the decomposed sub-dynamics configurations based on the independent axis control. The sliding mode force control scheme was expected to show the better tracking performance by taking care of not only external disturbance but also internal uncertainties of a robot manipulator. Force control tasks of a three-link robot manipulator are tested with nonmodel dynamics under unknown uncertainties and their performances are compared. © ICROS, KIEE and Springer 2023 |
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Abstract This paper presents the sliding mode control method for separate position and force control of a hybrid force control scheme in robot manipulation. Integral sliding mode control (ISMC) functions are defined and applied to both position and force controlled direction separately to improve the control performances by minimizing the ill effect of uncertain dynamics. Stability of integral sliding mode control for both position and force-controlled direction is analyzed in a Lyapunov sense under the decomposed sub-dynamics configurations based on the independent axis control. The sliding mode force control scheme was expected to show the better tracking performance by taking care of not only external disturbance but also internal uncertainties of a robot manipulator. Force control tasks of a three-link robot manipulator are tested with nonmodel dynamics under unknown uncertainties and their performances are compared. © ICROS, KIEE and Springer 2023 |
| abstract_unstemmed |
Abstract This paper presents the sliding mode control method for separate position and force control of a hybrid force control scheme in robot manipulation. Integral sliding mode control (ISMC) functions are defined and applied to both position and force controlled direction separately to improve the control performances by minimizing the ill effect of uncertain dynamics. Stability of integral sliding mode control for both position and force-controlled direction is analyzed in a Lyapunov sense under the decomposed sub-dynamics configurations based on the independent axis control. The sliding mode force control scheme was expected to show the better tracking performance by taking care of not only external disturbance but also internal uncertainties of a robot manipulator. Force control tasks of a three-link robot manipulator are tested with nonmodel dynamics under unknown uncertainties and their performances are compared. © ICROS, KIEE and Springer 2023 |
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| title_short |
Sliding Mode Control for a Hybrid Force Control Scheme of a Robot Manipulator Under Uncertain Dynamics |
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https://dx.doi.org/10.1007/s12555-022-0756-6 |
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