Task Space Integral Sliding Mode Controller Implementation for 4DOF of a Humanoid BERT2 arm with Posture Control

SG Khan, Jamaludin Jalani, G Herrmann, AG Pipe, CR Melhuish

Research output: Chapter in Book/Report/Conference proceedingChapter in a book

Abstract

This paper presents the implementation (real time and simulation) of an integral sliding mode controller (ISMC) for the four degrees of freedom (DOF) of the humanoid BERT II robot arm, in order to deal with the inaccuracies and unmodelled nonlinearities in the dynamic model of the robot arm. This is a task space controller, tracking Cartesian coordinates x and y. The controller has been implemented using shoulder flexion, shoulder abduction, humeral rotation and elbow flexion joints of the BERT II right arm. The main controller is the combination of a feedback linearization (FL) scheme and an ISMC. The redundant DOF are controlled by a bio-mechanically inspired posture controller, to generate human like motion pattern based on recent work. Good real-time tracking results demonstrates effectiveness of the scheme.
Translated title of the contributionTask Space Integral Sliding Mode Controller Implementation for 4DOF of a Humanoid BERT2 arm with Posture Control
Original languageEnglish
Title of host publicationTowards Autonomous Robotic Systems
Subtitle of host publication19th Annual Conference, TAROS 2018, Bristol, UK July 25-27, 2018, Proceedings
EditorsR. Groß, L. Alboul, C. Melhuish, M. Witkowski, T. Prescott, J. Penders
PublisherSpringer International Publishing AG
Pages299 - 310
Number of pages12
ISBN (Print)9783642232312
Publication statusPublished - 2011

Publication series

NameLecture Notes in Computer Science

Bibliographical note

Other: 10.1007/978-3-642-23232-9_27

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