Design and implementation of a sliding-mode disturbance observer for robotic manipulators with unbalanced rotating payloads

Yu Sheng Lu*, Ching Tung Chen, Chien Wei Chiu

*此作品的通信作者

研究成果: 雜誌貢獻期刊論文同行評審

摘要

Robotic manipulators with unbalanced payloads rotating at nearly constant speeds can often be found in automated manufacturing tasks, such as drilling, grinding and deburring. In this paper, a sliding-mode disturbance observer (SMDOB) is designed for such systems that are subject to unknown periodic disturbances due to unbalanced rotating payloads. Stability of the closed-loop system, in which the SMDOB is in combination with a nominal controller, is addressed. Besides, this paper presents an adaptation algorithm for automatic switching-gain adjustments. To alleviate chatter, this algorithm is able to decrease switching gains according to practical operating conditions of robotic manipulators. An experimental study on a two-link direct-drive robotic manipulator was conducted. The experimental results are reported in this paper with a comparative study, realistically showing the efficacy of the proposed system.

原文英語
文章編號34
期刊Journal of the Brazilian Society of Mechanical Sciences and Engineering
44
發行號1
DOIs
出版狀態已發佈 - 2022 1月

ASJC Scopus subject areas

  • 汽車工程
  • 航空工程
  • 工程 (全部)
  • 機械工業
  • 工業與製造工程
  • 應用數學

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