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Modeling, Simulation, and Sliding Mode Control Analysis of SQ15-06N Robot

Firouzi Pouyaei, Hamed | 2021

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  1. Type of Document: M.Sc. Thesis
  2. Language: English
  3. Document No: 54642 (58)
  4. University: Sharif University of Technology, International Campus, Kish Island
  5. Department: Science and Engineering
  6. Advisor(s): Khayyat, Amir Ali Akbar; Selk Ghafari, Ali
  7. Abstract:
  8. In this thesis, kinematic, dynamic modeling and simulation, and control of SQ15-06N industrial robot have been presented. This robot is mostly used in the painting industry. Studying the robot requires familiarity with the robot programming and the hardware used in the robot. In this research, robot characteristics such as repeatability, load carrying capacity and accessibility have been investigated. The principles of industrial robot programming and robot programming language have been studied. The use of simulation software is common due to cost savings, reduced time, no need for robots and controllers, and the ability to test programs in a virtual environment. For this purpose, the emulator software has been introduced and its features and capabilities have been described. The kinematic model of the robot was obtained using Denavit-Hartenberg algorithm and its accuracy was evaluated with the results obtained from RoboDK software. It is not possible to move the robot in a specific path directly. To move the robot in a certain direction, the path is discretized and the motion is approximated as a point-to-point. To dissect the path, a program is written that dissects the path to the desired number of points and the output of that program is comprehendible for the robot. The dynamics of the robot is modeled using the Lagrange method, assuming that the joints and links are rigid.As a robust control method, the first-order sliding mode control method has been investigated, as well as the calculated torque method for this robot. Robot control equations are obtained and control simulations are performed. To reduce the chattering phenomenon in the sliding mode controller, the use of functions such as inverse tangent, hyperbolic tangent and saturation function instead of the Sign function has been suggested. The dynamic load carrying capacity of the robot closed loop is obtained by the method of sliding mode and calculated torque. In addition to the saturation constraint of the motors, the error constraint is also taken into account in calculating the dynamic load carrying capacity of the closed loop model
  9. Keywords:
  10. Industrial Robots ; Sliding Mode Control ; Kinematics Simulation ; Dynamic Modeling ; Calculated Torque ; Robust Control

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