Sliding Mode Control of a Two-link Robot Manipulator Using Adams \& Matlab Software
Ilgen, Sinan and Durdu, Akif and Gulbahce, Erdi and Cakan, Abdullah
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Abstract
This paper presents the design of a sliding mode controller (SMC) for
trajectory tracking problem for a two-link planar robot manipulator. A
virtual prototype of the manipulator has been built by using Adams
software. Also, the controller works is achieved in Matlab/Simulink
software. The system is simulated in both Matlab and Adams software
together which is called co-simulation. The manipulator system has two
inputs (torques of actuators) and four outputs (angle of 1st joint,
angle of 2nd joinnt and x-y components of end effector position). The
sliding mode controller (SMC) is designed with the constant variation
reaching law. The simulation results show that the sliding mode
controller (SMC) can successfully achieve trajectory tracking of a
two-link planar robot manipulator according to the desired trajectory.... Show more Show less