Contour Tracking of a Redundant Robot Using Integral Variable Structure Control with Output Feedback

Authors:
Chih-Jer Lin;Kai-Sheng Lee
Affiliations:
Institute of Automation Technology, National Taipei University of Technology, Taipei, Republic of China 106;Institute of Aeronautics and Astronautics, National Cheng-Kung University, Tainan, Republic of China
Venue:
Journal of Intelligent and Robotic Systems
Year:
2011

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Abstract

This work examines the contour tracking problem of redundant robot on a path with singularity. Using an optimal quadratic programming method is to solve the singularity problem and the computing load of motion planning is reduced by a novel hybrid motion planning method. To achieve contour tracking with output feedback, an integral sliding mode control with a high-gain observer is employed to eliminate the chattering due to discontinuous switching control of the sliding-mode control and maintain robustness of the ideal sliding mode.