Adaptive Sliding Mode Control Anticipating Proportional Degradation of Actuator Torque in Uncertain Serial Industrial Robots

Adaptive Sliding Mode Control Anticipating Proportional Degradation of Actuator Torque in Uncertain Serial Industrial Robots

The paper focuses on faulty actuator problems in an industrial robot using servomotors, and provides an adaptive sliding mode control law to overcome this circumstance. Because of multifarious reasons, robot actuators can undergo a variety of failures, such as locked or stuck joints, free-swinging j...

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Bibliographic Details
Main Authors: Le Ngoc Truc, Le Anh Vu, Tran Van Thoan, Bui Trung Thanh, Tung Lam Nguyen
Format: Article
Language:English
Published: MDPI AG 2022-05-01
Series:Symmetry
Subjects:
actuator torque degradation
actuator failure
industrial robot manipulator
sliding mode control
adaptation control
Online Access:https://www.mdpi.com/2073-8994/14/5/957

Internet

https://www.mdpi.com/2073-8994/14/5/957

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