Trajectory Tracking Control of UR5 Robot: A PD with Gravity Compensation and Sliding Mode Control Comparison

Jhon Charaja, Emanuel Munoz-Panduro, Oscar E. Ramos, Ruth Canahuire

Producción científica: Capítulo del libro/informe/acta de congresoContribución a la conferenciarevisión exhaustiva

4 Citas (Scopus)

Resumen

Good trajectory tracking and fast convergence are critical characteristics on medical and industrial applications. This behavior must be ensured despite the presence of disturbances to successfully complete the task. This work presents the design and robustness comparison of two control approaches computationally implemented on UR5 robot for trajectory tracking. The control methods that will be compared are proportional-derivative control with gravity compensation and sliding mode control. Both control methods will be designed to ensure stability and good tracking of circular helicoidal trajectory on the operational space. In order to evaluate the robustness of both control methods, a controlled white-noise signal will be added to robot model. The obtained results indicate that sliding mode control deals better with external disturbances than proportional-derivative control with gravity compensation.

Idioma originalInglés
Título de la publicación alojada2020 International Conference on Control, Automation and Diagnosis, ICCAD 2020 - Proceedings
EditorialInstitute of Electrical and Electronics Engineers Inc.
ISBN (versión digital)9781728169996
DOI
EstadoPublicada - oct. 2020
Evento4th International Conference on Control, Automation and Diagnosis, ICCAD 2020 - Paris, Francia
Duración: 7 oct. 20209 oct. 2020

Serie de la publicación

Nombre2020 International Conference on Control, Automation and Diagnosis, ICCAD 2020 - Proceedings

Conferencia

Conferencia4th International Conference on Control, Automation and Diagnosis, ICCAD 2020
País/TerritorioFrancia
CiudadParis
Período7/10/209/10/20

Huella

Profundice en los temas de investigación de 'Trajectory Tracking Control of UR5 Robot: A PD with Gravity Compensation and Sliding Mode Control Comparison'. En conjunto forman una huella única.

Citar esto