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Sliding mode hybrid impedance control of robot manipulators interacting with unknown environments using VSMRC method

Jafari, Aghil; Ryu, Jee-Hwan; Rezaei, Mehdi; Monfaredi, Reza; Talebi, Ali; Shiry Ghidary, Saeed

Authors

Jee-Hwan Ryu

Mehdi Rezaei

Reza Monfaredi

Ali Talebi

Saeed Shiry Ghidary



Abstract

In the present paper, the objective of hybrid impedance control is specified and a robust hybrid impedance control approach is proposed. Based on the concept of hybrid control, the task space is decomposed into position and force controlled subspaces. Impedance control is used in the position controlled subspace. Desired inertia and damping are applied in the force controlled subspace to meliorate the dynamic behavior of robot manipulator. Robust controller using the variable structure model reaching control (VSMRC) is introduced that can realize the objective impedance in the sliding mode in finite time. In order to overcome the chattering effect due to sliding mode approach, fuzzy logic methodology is employed in the control system. In addition, the reaching transient response is undertaken with prescribed quality. Simulating the control system for a 6DOF PUMA560 robot confirms the validity and effectiveness of the proposed control system.

Presentation Conference Type Conference Paper (unpublished)
Start Date Oct 24, 2013
Publication Date Nov 5, 2013
Peer Reviewed Peer Reviewed
APA6 Citation Jafari, A., Ryu, J., Rezaei, M., Monfaredi, R., Talebi, A., & Shiry Ghidary, S. (2013, October). Sliding mode hybrid impedance control of robot manipulators interacting with unknown environments using VSMRC method. Paper presented at The 44th IEEE International Symposium on Robotics (ISR 2013)
Keywords robust control, hybrid control, sliding mode control, impedance control
Publisher URL http://dx.doi.org/10.1109/ISR.2013.6695616
Additional Information Title of Conference or Conference Proceedings : The 44th IEEE International Symposium on Robotics (ISR 2013)