Maximum Dynamic Load Carrying Capacity in Flexible Joint Robots Using Sliding Mode Control

In this paper a method for Maximum Dynamic Load Carrying Capacity identification,imposing accuracy and input torque constraints in Flexible Joint Robots has been presented. This method is based on Sliding Mode Control algorithm as a robust control algorithm which let us to identify maximum dynamic load carrying capacity, in the presence of disturbance and system uncertainties. Algorithms have been represented for maximum dynamic load carrying capacity identification in both absence and presence of disturbance. Simulation has been done in each condition and resulted maximum dynamic load carrying capacities have been discussed.

کلیدواژه ها:

Robot ، Flexible Joints ، Sliding Mode Control ، Load Carrying Capacity