Control design for direct-drive robotic ARM using sliding mode control

摘要

Robotic arm with direct-drive arm has a nonlinear dynamic system which is the function of the inertia and the central Coriolis and influence styles of friction and gravity. Research on sliding mode control is designed to control a robotic arm to be moved in accordance with the position and the expected speed. This research was conducted on the design of sliding mode control in direct-drive robotic arm mathematically then counting system stability using the Lyapunov method. To verify the system of control designed does simulate on Matlab Simulink. Based on the results of the simulation, the sliding mode control is able to control the position and speed of the robotic arm in asymptotically. Error compiling is very small i.e. 0.000875 (error positions) and 0.001295 (error speed) for set point is constant, 0.000435 (error positions) and 0.001032 (error speed) for set sinusoidal, 0.004345 (error positions) and 0.005207 (error speed) for set point condition early. The robotic arms have higher movement accuracy while the gain k = 100 than at the time the gain k = 0.1, process simulation, however, when k = 0.1 faster than k = 100.