Research On Fuzzy Sliding Mode Control For WF160Serial Industrial Robot

The industrial robot controller has a direct impact on the performance of the wholesystem. Most domestic industrial robots use PID control strategy, which does’t take thedynamic model of the robot into consideraion. Therefore the system gets a weak abilityof anti-friction and interference. Thus the dynamic performance of the robot needs to beimproved. To solve this problem, the paper took reasch on the application of sldingmode control to industrial robots. Sliding mode control have the advantages of simple todesign and strong robustness. It’s suitable to be applied to industrial robots.After the design of classical sliding mode control strategy, this paper improved thecontrol method to get a faster converage speed and better tracking accuracy index. Themodeling errors of the robots’ dynamic models would bring much affection on thecontrol torque of the robot end-joints. To suppress the modeling errors，a compensationtorque is designed.To improve the performance of the robot to a higher level, fuzzy control strategy isconsidered and combined with the sliding mode controller. By adjusting the parametersε、λ and K_M to appropriate values, the output torques of the controller got moresmooth and the tracking speed got faster. Variable domain factors were introduced to theinput variables to raise the resolution of the controller.To test the performance of the controller, this paper designed simulationexperiments in the way of co-simulation using softwares of Adams and Matlab. PIDcontrol simulation experiments were taken as contrast to the sliding mode controller.The results of the experiments show that the sliding mode control has better jointtracking accuracy and stronger robust than the PID control.