VARIABLE-STRUCTURE SYSTEMS FOR CONTROL OF REDUNDANT ROBOT

A combination of one class of kinematic control of redundant robot and Variable Structure Systems (VSS) in manipulating tasks that require large accelerations or decelerations is the main issue of this paper. The inverse kinematic problem will, on a tactical control level, be solved through Distributed Positioning (DP) concept, while the solution of the executive control level will be solved by using a combination of two common VS control algorithms with PI controller. A complete synthesis of VS local regulators for the redundancy, along with stability analysis, will be given. Comparison of VS with PD controller tracking characteristics will be studied on a suitable SCARA robot with redundancy performing one typical pick-and-place movement.