TY - GEN
T1 - Protective control for robot manipulator by sliding mode based disturbance reconstruction approach
AU - Yiyong, Sun
AU - Zengjie, Zhang
AU - Leibold, Marion
AU - Hayat, Rameez
AU - Wollherr, Dirk
AU - Buss, Martin
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/8/21
Y1 - 2017/8/21
N2 - This paper presents a protective control framework for robot manipulators using sliding mode based state estimation and disturbance reconstruction. Specifically, the nonlinear dynamic state-space model of the robot is transformed into a descriptor form, allowing the design of a sliding mode observer and a sliding mode based trajectory tracking control. Different reaction strategies to protect the robot manipulator are presented according to the strength of the disturbance and whether the environment is completely perceptible. Finally, to show the effectiveness of this novel combination of sliding mode observer and protective controller, an experiment on a two degree-of-freedom manipulator is conducted.
AB - This paper presents a protective control framework for robot manipulators using sliding mode based state estimation and disturbance reconstruction. Specifically, the nonlinear dynamic state-space model of the robot is transformed into a descriptor form, allowing the design of a sliding mode observer and a sliding mode based trajectory tracking control. Different reaction strategies to protect the robot manipulator are presented according to the strength of the disturbance and whether the environment is completely perceptible. Finally, to show the effectiveness of this novel combination of sliding mode observer and protective controller, an experiment on a two degree-of-freedom manipulator is conducted.
UR - http://www.scopus.com/inward/record.url?scp=85028766806&partnerID=8YFLogxK
U2 - 10.1109/AIM.2017.8014152
DO - 10.1109/AIM.2017.8014152
M3 - Conference contribution
AN - SCOPUS:85028766806
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 1015
EP - 1022
BT - 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
Y2 - 3 July 2017 through 7 July 2017
ER -