Robust Control and Design of a Manipulator Robot

Saddam Hocine Derrouaoui; Sahouli Hichem; Mohamed Lasàad Benzaoui

المؤلفون

Saddam Hocine Derrouaoui Ecole Supérieur Ali Chabati-Algiers, Algeria المؤلف
Sahouli Hichem Ecole Supérieur Ali Chabati-Algiers, Algeria المؤلف
Mohamed Lasàad Benzaoui University of Science and Technology Houari Boumadien, Algiers, Algeria المؤلف

الكلمات المفتاحية:

Manipulator Robot، Arm، Dynamic Modeling، Realization، Modified Denavit Hanterberg (MDH)، Robustness, Sliding Mode، Backstepping، PID

الملخص

In this paper, we propose the modeling, design, realization and robust control of a manipulator robot with three Degrees of Freedom. This robot is intended to perform several tasks such as, moving and transport objects. In order to simplify the platform prototype and make it light, we will opt on a simple mechanism in the structure. In addition, we will synthesis the control laws based on the dynamic model. Herein, we seek to present the robustness and the efficiency of the BacksteppingSliding Mode (BK-SM) and Integral-Backstepping-Sliding Mode (I-BK-SM) control laws, taking into account the external perturbations, the inertia and the mass change during the execution of the tasks. Then, to validate and to reproduce the behavior of the real system as faithfully as possible, we will export the 3D model designed in Solidworks to SimMechanics environment, where a linear PID controller will be applied. This new step is more challenging, because of the synchronization between the two software and the control of the designed model as it is. From the simulation results, the (BK-SM) and (I-BKSM) control laws, gave us better performances in terms of disturbances rejection and prove their robustness towards the variation of the load. The preliminary prototype platform and its parameters will be shown