Trajectory tracking of mobile manipulator for welding task using sliding mode control

被引：0
|
作者：
Tran, TP [1 ]
Chung, TL [1 ]
Kim, HK [1 ]
Kim, SB [1 ]
Oh, MS [1 ]
机构：
[1] Pukyong Natl Univ, Dept Mech Engn, Pusan, South Korea
来源：
IECON 2004 - 30TH ANNUAL CONFERENCE OF IEEE INDUSTRIAL ELECTRONICS SOCIETY, VOL. 1 | 2004年
关键词：
D O I：
暂无
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
This paper proposed a sliding mode control method for a two-wheel welding mobile manipulator to track a smooth 3D curved welding path. To design a tracking controller, the tracking errors are defined between the welding point of the torch and the reference point moving at a specified constant welding speed on the welding path. A sliding surface is set up and a control law is proposed for stabilization of the sliding surface. The simulations are performed to show the effectiveness of the proposed controller.
引用
收藏
页码：407 / 412
页数：6
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