New hybrid control of a 2 DoF Robot Arm

TL;DR

This paper introduces a new hybrid control system for a 2 DoF robot arm that enhances trajectory tracking and noise suppression using an innovative integral sliding mode control approach, validated through experiments.

Contribution

The paper presents a novel hybrid control system combining NISMC with error correction to improve trajectory accuracy and robustness against noise in 2 DoF robot arms.

Findings

The proposed NHISMC outperforms traditional SMC and NISMC in trajectory tracking.

Experimental results show significant reduction in tracking error.

The control method effectively suppresses noise such as friction forces.

Abstract

Robot arms have been using in different systems, which the control of designed in desired trajectory is the main task. Also, it is anticipated that while in operation the developed 2DoF robot arm will be constantly encountered with noises such as friction forces. A new integral sliding mode control (NISMC) is therefore being introduced to suppress noise due to its robustness. Then, New hybrid control system (NHISMC) is proposed, which constantly calculates an error value and applies a correction value to the system. This will enhance trajectory and minimize tracking error. In comparison with two other controllers, such as traditional sliding mode control (SMC) and NISMC, experimental results confirmed the efficacy of the proposed control method.