ISSN 2708-244X
 

Review Article 


Robust Control and Design of a Manipulator Robot

Saddam Hocine DERROUAOUI, Hichem SAHOULI, Mohamed Lassad BENZAOUI.

Abstract
In this paper, we propose the modeling, design, realization and robust control of a manipulator robot
with three Degrees of Freedom. This robot is intended to
perform several tasks such as, moving and transport objects. In order to simplify the platform prototype and make
it light, we will opt on a simple mechanism in the structure.
In addition, we will synthesis the control laws based on
the dynamic model. Herein, we seek to present the robustness and the efficiency of the Backstepping-Sliding Mode
(BK-SM) and Integral-Backstepping-Sliding Mode (I-BK-SM)
control laws, taking into account the external perturbations,
the inertia and the mass change during the execution of the
tasks. Then, to validate and to reproduce the behavior of the
real system as faithfully as possible, we will export the 3D
model designed in Solidworks to SimMechanics environment, where a linear PID controller will be applied. This new
step is more challenging, because of the synchronization
between the two software and the control of the designed
model as it is.
Simulation results are also provided in order to illustrate
the performances of these controllers. The preliminary prototype platform and its parameters will be shown.

Key words: Manipulator Robot Dynamic Modeling Design Modified Denavit Hanterberg Robust control


 
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How to Cite this Article
Pubmed Style

DERROUAOUI SH, HS, BENZAOUI ML. Robust Control and Design of a Manipulator Robot. AJAS. 2020; 1(1): 0-0.


Web Style

DERROUAOUI SH, HS, BENZAOUI ML. Robust Control and Design of a Manipulator Robot. http://www.albahitjas.com/?mno=102339 [Access: July 20, 2020].


AMA (American Medical Association) Style

DERROUAOUI SH, HS, BENZAOUI ML. Robust Control and Design of a Manipulator Robot. AJAS. 2020; 1(1): 0-0.



Vancouver/ICMJE Style

DERROUAOUI SH, HS, BENZAOUI ML. Robust Control and Design of a Manipulator Robot. AJAS. (2020), [cited July 20, 2020]; 1(1): 0-0.



Harvard Style

DERROUAOUI, S. H., , . H. S. & BENZAOUI, . M. L. (2020) Robust Control and Design of a Manipulator Robot. AJAS, 1 (1), 0-0.



Turabian Style

DERROUAOUI, Saddam Hocine, Hichem SAHOULI, and Mohamed Lassad BENZAOUI. 2020. Robust Control and Design of a Manipulator Robot. Albahit journal of applied sciences, 1 (1), 0-0.



Chicago Style

DERROUAOUI, Saddam Hocine, Hichem SAHOULI, and Mohamed Lassad BENZAOUI. "Robust Control and Design of a Manipulator Robot." Albahit journal of applied sciences 1 (2020), 0-0.



MLA (The Modern Language Association) Style

DERROUAOUI, Saddam Hocine, Hichem SAHOULI, and Mohamed Lassad BENZAOUI. "Robust Control and Design of a Manipulator Robot." Albahit journal of applied sciences 1.1 (2020), 0-0. Print.



APA (American Psychological Association) Style

DERROUAOUI, S. H., , . H. S. & BENZAOUI, . M. L. (2020) Robust Control and Design of a Manipulator Robot. Albahit journal of applied sciences, 1 (1), 0-0.





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