Commenced in January 2007
Paper Count: 30127
Sliding Mode Control of an Internet Teleoperated PUMA 600 Robot
Abstract:In this paper, we have developed a sliding mode controller for PUMA 600 manipulator robot, to control the remote robot a teleoperation system was developed. This system includes two sites, local and remote. The sliding mode controller is installed at the remote site. The client asks for a position through an interface and receives the real positions after running of the task by the remote robot. Both sites are interconnected via the Internet. In order to verify the effectiveness of the sliding mode controller, that is compared with a classic PID controller. The developed approach is tested on a virtual robot. The results confirmed the high performance of this approach.
Digital Object Identifier (DOI): doi.org/10.5281/zenodo.1316313Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 377
 Frank L. Lewis and Darren M. Dawson and Chaouki T. Abdallah, Robot Manipulator Control: Theory and Practice, 2nd ed, M DEKKER, 2004.
 Ignacio Herrera Aguilar, Commande des bras manipulateurs et retour visuel pour des applications robotique de service, PhD thesis, Paul Sabatier university, 1999.
 Martin Pala and Daniel Lorencik and Peter Sincak, Towards the robotic teleoperation systems in education. 10th IEEE International Conference on Emerging eLearning Technologies and Applications, page 241 246, Novembre 2012.
 Abdelghani Aissaoui, Hamza Abid, Mohamed Abid, and Ahmed Tahour, Commande par logique floue et mode glissant d’une machine synchrone autopilote. Revue roumaine des sciences techniques, 2009.
 Jinkun Liu and Xinhua Wang. Advanced Sliding Mode Control for Mechanical Systems. Springer Heidelberg Dordrecht London New York, 2011.
 Dawei Wang, Jianqiang Yi, Dongbin Zhao and Guosheng Yang, Teleoperation System of the Internet-based Omnidirectional Mobile Robot with A Mounted Manipulator, IEEE International Conference on Mechatronics and Automation August 5-8, 2007, Harbin, China.
 Chun-yi Su and Yury Stepanenko, Adaptive Sliding Mode Control of Robot Manipulators: General Sliding Manifold Case, Automatica, Vol. 30, No. 9, pp. 1497-1500, 1994.
 Jean-Jacques Slotine and Weiping Li, Applied Nonlinear Control, Prentice-Hall, 1991.
 Vadim I. Utkin. Sliding Modes in Control and Optimization. Springer -Verlag, 1992.
 M. Murray Richard, Zexiang Li, S. Shankar Sastry, and S. Shankara Sastry. A Mathematical Introduction to Robotic Manipulation. CRC Press, 1994.