DYNAMIC ANALYSIS AND SLIDING MODE CONTROL OF A NOVEL EXTENDABLE MODULAR MULTI-DOFS LINK Conference Paper uri icon

abstract

  • In this paper, we have considered the new extendable modular multi-DOFs link to have a larger reachable workspace and more dexterous manipulability, as compared to a typical link. As a part of the extendable modular robot (EMR), our link is implemented to allow free motion when performing required tasks. In addition, this paper deals with a function of adjusting the links length (within 25% of the nominal length). Our investigation also focuses on the dynamics of a multi-DOFs link and the nonlinear controller for a given trajectory. The simulation results show the effectiveness of this control approach.

name of conference

  • Volume 4: Dynamics, Control and Uncertainty, Parts A and B

published proceedings

  • INTERNATIONAL MECHANICAL ENGINEERING CONGRESS AND EXPOSITION - 2012, VOL 4, PTS A AND B

author list (cited authors)

  • Yi, H., Yoo, J. H., & Langari, R.

citation count

  • 2

complete list of authors

  • Yi, Hak||Yoo, Je Hong||Langari, Reza

publication date

  • January 2013