Sliding Modes for a Manipulator Arm of 4 Degrees of Freedom

Authors

  • Angie Valencia
  • Oscar Aviles
  • Mauricio Mauledoux

DOI:

https://doi.org/10.3991/ijoe.v13i10.7498

Keywords:

Arm Manipulator, Articulated Pair, Degrees of freedom, Dynamic Model, Generalized Coordinates, Sliding Modes Controller

Abstract


The first step in designing a controller for a manipulating arm is to determine its configuration, which means, analyzing the main components that make up the mechanism. A manipulating arm is composed of joints, motors, sensors and other elements, which are linked to conform the different degrees of freedom (generalized coordinates: prismatic, rotational or a combination of both, which is presented as the most unusual), which allow the calculation of the dynamic model implemented to obtain the control specifications [1]. In this paper, the calculation of a controller by sliding modes for a manipulator arm with 4 rotational degrees of freedom will be done, showing the respective results and conclusions at the end.

 

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Published

2017-11-07

How to Cite

Valencia, A., Aviles, O., & Mauledoux, M. (2017). Sliding Modes for a Manipulator Arm of 4 Degrees of Freedom. International Journal of Online and Biomedical Engineering (iJOE), 13(10), pp. 114–122. https://doi.org/10.3991/ijoe.v13i10.7498

Issue

Section

Short Papers