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Contour Tracking of a Redundant Robot Using Integral Variable Structure Control with Output Feedback

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Abstract

This work examines the contour tracking problem of redundant robot on a path with singularity. Using an optimal quadratic programming method is to solve the singularity problem and the computing load of motion planning is reduced by a novel hybrid motion planning method. To achieve contour tracking with output feedback, an integral sliding mode control with a high-gain observer is employed to eliminate the chattering due to discontinuous switching control of the sliding-mode control and maintain robustness of the ideal sliding mode.

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Authors and Affiliations

  1. Institute of Automation Technology, National Taipei University of Technology, 1, Sec. 3, Chung-Hsiao E. Rd., Taipei, 106, Taiwan, Republic of China

    Chih-Jer Lin

  2. Institute of Aeronautics and Astronautics, National Cheng-Kung University, Tainan, Taiwan, Republic of China

    Kai-Sheng Lee

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  1. Chih-Jer Lin
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  2. Kai-Sheng Lee
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Correspondence to Chih-Jer Lin.

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Lin, CJ., Lee, KS. Contour Tracking of a Redundant Robot Using Integral Variable Structure Control with Output Feedback. J Intell Robot Syst 62, 241–270 (2011). https://doi.org/10.1007/s10846-010-9461-4

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  • DOI: https://doi.org/10.1007/s10846-010-9461-4

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