Abstract

Robotic arm with direct-drive arm has a nonlinear dynamic system which is the function of the inertia and the central Coriolis and influence styles of friction and gravity. Research on sliding mode control is designed to control a robotic arm to be moved in accordance with the position and the expected speed. This research was conducted on the design of sliding mode control in direct-drive robotic arm mathematically then counting system stability using the Lyapunov method. To verify the system of control designed does simulate on Matlab Simulink. Based on the results of the simulation, the sliding mode control is able to control the position and speed of the robotic arm in asymptotically. Error compiling is very small i.e. 0.000875 (error positions) and 0.001295 (error speed) for set point is constant, 0.000435 (error positions) and 0.001032 (error speed) for set sinusoidal, 0.004345 (error positions) and 0.005207 (error speed) for set point condition early. The robotic arms have higher movement accuracy while the gain k = 100 than at the time the gain k = 0.1, process simulation, however, when k = 0.1 faster than k = 100.

Original languageEnglish
Title of host publicationProceeding - ICAMIMIA 2017
Subtitle of host publicationInternational Conference on Advanced Mechatronics, Intelligent Manufacture, and Industrial Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages277-282
Number of pages6
ISBN (Electronic)9781538627297
DOIs
Publication statusPublished - 15 Jun 2018
Event2017 International Conference on Advanced Mechatronics, Intelligent Manufacture, and Industrial Automation, ICAMIMIA 2017 - Surabaya, Indonesia
Duration: 12 Oct 201714 Oct 2017

Publication series

NameProceeding - ICAMIMIA 2017: International Conference on Advanced Mechatronics, Intelligent Manufacture, and Industrial Automation

Conference

Conference2017 International Conference on Advanced Mechatronics, Intelligent Manufacture, and Industrial Automation, ICAMIMIA 2017
Country/TerritoryIndonesia
CitySurabaya
Period12/10/1714/10/17

Keywords

  • Lyapunov method
  • Robotic Arm with direct-drive arm
  • sliding mode control

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