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

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

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 proceeding › Conference Contribution (Conference Proceeding)

3 Citations (Scopus)

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 contribution	Task Space Integral Sliding Mode Controller Implementation for 4DOF of a Humanoid BERT2 arm with Posture Control
Original language	English
Title of host publication	TAROS 2011, UK Robotics Conference, Sheffield
DOIs	https://doi.org/10.1007/978-3-642-23232-9_27
Publication status	Published - 2011

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Name and Venue of Event: TAROS 2011, UK Robotics Conference, Sheffield
Conference Organiser: The University of Sheffield

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@inproceedings{13bbc6b0997b41ecba5663f1bd338b4a,

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

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.",

author = "SG Khan and Jamaludin Jalani and G Herrmann and AG Pipe and CR Melhuish",

note = "Name and Venue of Event: TAROS 2011, UK Robotics Conference, Sheffield Conference Organiser: The University of Sheffield",

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doi = "10.1007/978-3-642-23232-9_27",

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AU - Khan, SG

AU - Jalani, Jamaludin

AU - Herrmann, G

AU - Pipe, AG

AU - Melhuish, CR

N1 - Name and Venue of Event: TAROS 2011, UK Robotics Conference, Sheffield Conference Organiser: The University of Sheffield

PY - 2011

Y1 - 2011

N2 - 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.

AB - 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.

U2 - 10.1007/978-3-642-23232-9_27

DO - 10.1007/978-3-642-23232-9_27

M3 - Conference Contribution (Conference Proceeding)

BT - TAROS 2011, UK Robotics Conference, Sheffield

ER -

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

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