Two–Stages Sliding Controller for Manipulators with Time–Varying Inertia Links*

E-ISSN： 1469-8668|7|3|255-261

ISSN： 0263-5747

Source： Robotica, Vol.7, Iss.3, 1989-07, pp. : 255-261

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Abstract

The author introduced the use of time–varying inertia links to increase the flexibility (or versatility) of manipulators in the sense that they can so achieve more tracking capabilities. Clearly, we then have a pair of control vectors (link inertias and external forces) instead of one control vector only (applied forces). After a careful derivation of the dynamical equations of such manipulators, one shows that their control procedure can be decomposed into two stages, each of them involving sliding control schemes via prescribed dynamics on the error term, that is to say the difference between the desired position and the actual position. This approach provides a good technique to take account of possible constraints on the magnitude of the control, and in addition, it is possible to consider the sliding conditions as an ideal mechanical constraint, therefore the use of the principle of virtual displacements.