DETECTION AND CONTROL OF NON-LINEAR BEHAVIOR BY SLIDING MODES CONTROL IN A 3 D.O.F. ROBOT

Claudio Urrea, Marcela Jamett

2008

Abstract

Results from simulations of a Planar Robot Model, when it is placed in the same plane of the action of the gravity force are reviewed in this paper. The model includes several parameters usually discarded in current models, such as Driving, and Non-linear Friction, for an industrial-type robotic manipulator and its actuators. When we develop more exact representations of the dynamics of a manipulator and their actuators, chaotic behavior is detected for certain parameter values of the robotic manipulator. This chaotic behavior – without external inputs – was exactly controlled by Sliding Modes.

Paper Citation

in Harvard Style

Urrea C. and Jamett M. (2008). DETECTION AND CONTROL OF NON-LINEAR BEHAVIOR BY SLIDING MODES CONTROL IN A 3 D.O.F. ROBOT . In Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 978-989-8111-31-9, pages 71-76. DOI: 10.5220/0001490100710076

in Bibtex Style

@conference{icinco08,
author={Claudio Urrea and Marcela Jamett},
title={DETECTION AND CONTROL OF NON-LINEAR BEHAVIOR BY SLIDING MODES CONTROL IN A 3 D.O.F. ROBOT},
booktitle={Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2008},
pages={71-76},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001490100710076},
isbn={978-989-8111-31-9},
}

in EndNote Style

TY - CONF
JO - Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - DETECTION AND CONTROL OF NON-LINEAR BEHAVIOR BY SLIDING MODES CONTROL IN A 3 D.O.F. ROBOT
SN - 978-989-8111-31-9
AU - Urrea C.
AU - Jamett M.
PY - 2008
SP - 71
EP - 76
DO - 10.5220/0001490100710076