Title: A smart higher order sliding mode control of rigid articulated robotic manipulator with passive joints

Authors: Manjusha Bhave; S. Janardhanan; Lillie Dewan

Addresses: Department of Electrical Engineering, National Institute of Technology, Kurukshetra, Kurukshetra, India ' Department of Electrical Engineering, Indian Institute of Technology Delhi, New Delhi, India ' Department of Electrical Engineering, National Institute of Technology, Kurukshetra, Kurukshetra, India

Abstract: Robotic manipulators find their utility in many space applications. However, handling actuator failure in such systems is a challenging task. The system can also be deliberately designed to be underactuated to reduce the cost, weight and power consumption. Higher order sliding mode control is a good control philosophy to control such underactuated and uncertain systems. The present work showcases a strategy of choosing zero error sliding function and locking passive joints for tracking control of end effector in an underactuated manipulator by designing the third order sliding mode control. In the end, simulation examples are shown to establish the effectiveness of the proposed algorithm.

Keywords: higher order SMC; sliding mode control; underactuated robots; robotic manipulators; passive joints; locked joints; uncertainties; parameter variations; robot control; space applications; actuator failure; manipulator control; tracking control; end effectors; simulation.

DOI: 10.1504/IJMIC.2015.069933

International Journal of Modelling, Identification and Control, 2015 Vol.23 No.3, pp.260 - 266

Received: 27 Feb 2014
Accepted: 02 Jun 2014
Published online: 16 Jun 2015 *

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