In this work the control possibilities of a flexible armed robot by Sliding Mode Control is studied. Flexible armed robots are usually used in material handling in remote dangerous environmets and production line. First, the nmathematical model of the system is formulated. Then the Sliding Mode Control theory is applied. Special care is given to the chattering problem of classical Sliding Mode Controller. The chattering may have serious damaging effect on gear systems as well as motor drive systems. Hence, the chattering character of classical Sliding Mode Control is overcome and new version of Sliding Mode Controller is applied on the flexible single-arm robot. The simulation is presented and the results are discussed.
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