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A Trajectory Tracking Control Based on a Terminal Sliding Mode for a Compliant Robot with Nonlinear Stiffness Joints.

Zhibin Song1,2, Tianyu Ma1,2, Keke Qi1,2

  • 1Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin 300072, China.

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Summary

A new Terminal Sliding Mode (TSM) control algorithm improves trajectory tracking for compliant robots with nonlinear stiffness actuators (NSAs). This method enhances precision by reducing coupled torques and parameter variations.

Keywords:
Lyapunov stabilitycompliant robotterminal sliding modetrajectory tracking

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Area of Science:

  • Robotics
  • Control Systems Engineering
  • Mechanical Engineering

Background:

  • Nonlinear stiffness actuators (NSAs) offer advantages in force resolution and bandwidth but present challenges in precise position control due to inherent mechanical imperfections like friction and hysteresis.
  • Controlling multi-degree-of-freedom (DOF) compliant robots driven by NSAs is complex due to coupled dynamics and varying actuator influences on end-effector trajectories.

Purpose of the Study:

  • To develop and validate a robust control algorithm for precise end-effector trajectory tracking in multi-DOF compliant robots actuated by NSAs.
  • To address the challenges of coupled dynamics and parametric variations inherent in NSA-driven compliant robotic systems.

Main Methods:

  • A control algorithm based on the Terminal Sliding Mode (TSM) approach was designed to manage the trajectory control of the end effector.
  • Mathematical proofs using Lyapunov stability theory established the finite-time convergence and stability of the closed-loop system.
  • Experimental validation was performed on a developed compliant robot, comparing the TSM controller against a conventional Proportion Differentiation (PD) controller.

Main Results:

  • The TSM-based control algorithm effectively reduced the coupling effects of driving torque.
  • The proposed algorithm demonstrated mitigation of the influence of parameter variations within the system.
  • Experimental results showed significantly more accurate trajectory tracking with the TSM controller compared to the PD controller.

Conclusions:

  • The Terminal Sliding Mode (TSM) approach provides a superior method for trajectory control in compliant robots driven by nonlinear stiffness actuators (NSAs).
  • The TSM controller enhances robotic system performance by improving trajectory tracking accuracy and robustness against system uncertainties.