Sliding Mode Control of the PUMA 560 Robot
Conference paper
Fekik, A, Azar, T. A, Hamida, L.M., Denoun, H., Kais, D., Saidi, S. M., Bousbaine, A., Kamal, N. A., Mhdawi, A. K. A. and Njima, C. B. 2023. Sliding Mode Control of the PUMA 560 Robot. 2023 International Conference on Control, Automation and Diagnosis (ICCAD). IEEE Xplore. https://doi.org/10.1109/ICCAD57653.2023.10152456
| Authors | Fekik, A, Azar, T. A, Hamida, L.M., Denoun, H., Kais, D., Saidi, S. M., Bousbaine, A., Kamal, N. A., Mhdawi, A. K. A. and Njima, C. B. |
|---|---|
| Type | Conference paper |
| Abstract | The purpose of this article is to present the application of the sliding mode control and investigate its effectiveness when applied to a three-dimensional robotic manipulator model. The analysis is based on the application of the sliding mode control law for the PUMA 560 model, three degrees of freedom, through the development of a dynamic simulation model. The simulation results show the effectiveness of this proposed method for the automation of industrial applications, such as assembly, machining (deburring, trimming), and surface tracking (polishing). This technique provides a useful insight into the advantages of using sliding mode control laws in robotics applications. |
| Keywords | Sliding Mode Control; Robotic manipulators; PUMA 560; Stability Analysis |
| Year | 2023 |
| Conference | 2023 International Conference on Control, Automation and Diagnosis (ICCAD) |
| Publisher | IEEE Xplore |
| ISSN | 2767-9896 |
| Digital Object Identifier (DOI) | https://doi.org/10.1109/ICCAD57653.2023.10152456 |
| Web address (URL) | https://ieeexplore.ieee.org/abstract/document/10152456 |
| Publisher's version | File Access Level Restricted |
| ISBN | 9798350347074 |
| Output status | Published |
| Publication dates | |
| Online | 23 Jun 2023 |
| Publication process dates | |
| Deposited | 30 Jun 2023 |
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