Task space integral sliding mode controller implementation for 4DOF of a humanoid BERT II arm with posture control

Said Ghani Khan; Jamaludin Jalani; Guido Herrmann; Tony Pipe; Chris Melhuish

doi:10.1007/978-3-642-23232-9_27

Task space integral sliding mode controller implementation for 4DOF of a humanoid BERT II arm with posture control

Said Ghani Khan, Jamaludin Jalani, Guido Herrmann, Tony Pipe, Chris Melhuish

Research output: Chapter in Book/Conference proceeding › Chapter › peer-review

Abstract

This paper presents the implementation (real time and simulation) of an integral sliding mode controller (ISMC) for the four degrees of freedom (DOF) of the humanoid BERT II robot arm, in order to deal with the inaccuracies and unmodelled nonlinearities in the dynamic model of the robot arm. This is a task space controller, tracking Cartesian coordinates x and y. The controller has been implemented using shoulder flexion, shoulder abduction, humeral rotation and elbow flexion joints of the BERT II right arm. The main controller is the combination of a feedback linearization (FL) scheme and an ISMC. The redundant DOF are controlled by a bio-mechanically inspired posture controller, to generate human like motion pattern based on recent work. Good real-time tracking results demonstrates effectiveness of the scheme.

Original language	English
Title of host publication	Towards autonomous robotic systems
Subtitle of host publication	12th annual conference, TAROS 2011, Sheffield, UK, August/September 2011 proceedings
Editors	Roderich Gross, Lyuba Alboul, Chris Melhuish, Mark Witkowski, Tony J. Prescott, Jacques Penders
Place of Publication	Heidelberg, Dordrecht, London, New York
Publisher	Springer Nature
Pages	299-310
Number of pages	12
Volume	6856
ISBN (Electronic)	9783642232329
ISBN (Print)	9783642232312
DOIs	https://doi.org/10.1007/978-3-642-23232-9_27 https://doi.org/10.1007/978-3-642-23232-9
Publication status	Published - 2011
Event	12th Annual Conference Towards Autonomous Robotics Systems - Sheffield Hallam University, Sheffield, United Kingdom Duration: 31 Aug 2011 → 2 Sept 2011 https://research.shu.ac.uk/taros11/

Publication series

Name	Lecture Notes in Computer Science
Volume	6856
ISSN (Print)	0302-9743

Conference

Conference	12th Annual Conference Towards Autonomous Robotics Systems
Abbreviated title	TAROS 2011
Country/Territory	United Kingdom
City	Sheffield
Period	31/08/11 → 2/09/11
Internet address	https://research.shu.ac.uk/taros11/

Keywords

Slide Mode Control
Humanoid Robot
Mode Controller
Feedback Linearization
Shoulder Abduction

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Khan, S. G., Jalani, J., Herrmann, G., Pipe, T., & Melhuish, C. (2011). Task space integral sliding mode controller implementation for 4DOF of a humanoid BERT II arm with posture control. In R. Gross, L. Alboul, C. Melhuish, M. Witkowski, T. J. Prescott, & J. Penders (Eds.), Towards autonomous robotic systems: 12th annual conference, TAROS 2011, Sheffield, UK, August/September 2011 proceedings (Vol. 6856, pp. 299-310). (Lecture Notes in Computer Science; Vol. 6856). Springer Nature. https://doi.org/10.1007/978-3-642-23232-9_27, https://doi.org/10.1007/978-3-642-23232-9

Khan, Said Ghani ; Jalani, Jamaludin ; Herrmann, Guido et al. / Task space integral sliding mode controller implementation for 4DOF of a humanoid BERT II arm with posture control. Towards autonomous robotic systems: 12th annual conference, TAROS 2011, Sheffield, UK, August/September 2011 proceedings. editor / Roderich Gross ; Lyuba Alboul ; Chris Melhuish ; Mark Witkowski ; Tony J. Prescott ; Jacques Penders. Vol. 6856 Heidelberg, Dordrecht, London, New York : Springer Nature, 2011. pp. 299-310 (Lecture Notes in Computer Science).

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abstract = "This paper presents the implementation (real time and simulation) of an integral sliding mode controller (ISMC) for the four degrees of freedom (DOF) of the humanoid BERT II robot arm, in order to deal with the inaccuracies and unmodelled nonlinearities in the dynamic model of the robot arm. This is a task space controller, tracking Cartesian coordinates x and y. The controller has been implemented using shoulder flexion, shoulder abduction, humeral rotation and elbow flexion joints of the BERT II right arm. The main controller is the combination of a feedback linearization (FL) scheme and an ISMC. The redundant DOF are controlled by a bio-mechanically inspired posture controller, to generate human like motion pattern based on recent work. Good real-time tracking results demonstrates effectiveness of the scheme.",

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author = "Khan, {Said Ghani} and Jamaludin Jalani and Guido Herrmann and Tony Pipe and Chris Melhuish",

year = "2011",

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Khan, SG, Jalani, J, Herrmann, G, Pipe, T & Melhuish, C 2011, Task space integral sliding mode controller implementation for 4DOF of a humanoid BERT II arm with posture control. in R Gross, L Alboul, C Melhuish, M Witkowski, TJ Prescott & J Penders (eds), Towards autonomous robotic systems: 12th annual conference, TAROS 2011, Sheffield, UK, August/September 2011 proceedings. vol. 6856, Lecture Notes in Computer Science, vol. 6856, Springer Nature, Heidelberg, Dordrecht, London, New York, pp. 299-310, 12th Annual Conference Towards Autonomous Robotics Systems, Sheffield, United Kingdom, 31/08/11. https://doi.org/10.1007/978-3-642-23232-9_27, https://doi.org/10.1007/978-3-642-23232-9

Task space integral sliding mode controller implementation for 4DOF of a humanoid BERT II arm with posture control. / Khan, Said Ghani; Jalani, Jamaludin; Herrmann, Guido et al.
Towards autonomous robotic systems: 12th annual conference, TAROS 2011, Sheffield, UK, August/September 2011 proceedings. ed. / Roderich Gross; Lyuba Alboul; Chris Melhuish; Mark Witkowski; Tony J. Prescott; Jacques Penders. Vol. 6856 Heidelberg, Dordrecht, London, New York: Springer Nature, 2011. p. 299-310 (Lecture Notes in Computer Science; Vol. 6856).

Research output: Chapter in Book/Conference proceeding › Chapter › peer-review

TY - CHAP

T1 - Task space integral sliding mode controller implementation for 4DOF of a humanoid BERT II arm with posture control

AU - Khan, Said Ghani

AU - Jalani, Jamaludin

AU - Herrmann, Guido

AU - Pipe, Tony

AU - Melhuish, Chris

PY - 2011

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N2 - This paper presents the implementation (real time and simulation) of an integral sliding mode controller (ISMC) for the four degrees of freedom (DOF) of the humanoid BERT II robot arm, in order to deal with the inaccuracies and unmodelled nonlinearities in the dynamic model of the robot arm. This is a task space controller, tracking Cartesian coordinates x and y. The controller has been implemented using shoulder flexion, shoulder abduction, humeral rotation and elbow flexion joints of the BERT II right arm. The main controller is the combination of a feedback linearization (FL) scheme and an ISMC. The redundant DOF are controlled by a bio-mechanically inspired posture controller, to generate human like motion pattern based on recent work. Good real-time tracking results demonstrates effectiveness of the scheme.

AB - This paper presents the implementation (real time and simulation) of an integral sliding mode controller (ISMC) for the four degrees of freedom (DOF) of the humanoid BERT II robot arm, in order to deal with the inaccuracies and unmodelled nonlinearities in the dynamic model of the robot arm. This is a task space controller, tracking Cartesian coordinates x and y. The controller has been implemented using shoulder flexion, shoulder abduction, humeral rotation and elbow flexion joints of the BERT II right arm. The main controller is the combination of a feedback linearization (FL) scheme and an ISMC. The redundant DOF are controlled by a bio-mechanically inspired posture controller, to generate human like motion pattern based on recent work. Good real-time tracking results demonstrates effectiveness of the scheme.

KW - Slide Mode Control

KW - Humanoid Robot

KW - Mode Controller

KW - Feedback Linearization

KW - Shoulder Abduction

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SN - 9783642232312

VL - 6856

T3 - Lecture Notes in Computer Science

SP - 299

EP - 310

BT - Towards autonomous robotic systems

A2 - Gross, Roderich

A2 - Alboul, Lyuba

A2 - Melhuish, Chris

A2 - Witkowski, Mark

A2 - Prescott, Tony J.

A2 - Penders, Jacques

PB - Springer Nature

CY - Heidelberg, Dordrecht, London, New York

T2 - 12th Annual Conference Towards Autonomous Robotics Systems

Y2 - 31 August 2011 through 2 September 2011

ER -

Khan SG, Jalani J, Herrmann G, Pipe T, Melhuish C. Task space integral sliding mode controller implementation for 4DOF of a humanoid BERT II arm with posture control. In Gross R, Alboul L, Melhuish C, Witkowski M, Prescott TJ, Penders J, editors, Towards autonomous robotic systems: 12th annual conference, TAROS 2011, Sheffield, UK, August/September 2011 proceedings. Vol. 6856. Heidelberg, Dordrecht, London, New York: Springer Nature. 2011. p. 299-310. (Lecture Notes in Computer Science). doi: 10.1007/978-3-642-23232-9_27, 10.1007/978-3-642-23232-9

Task space integral sliding mode controller implementation for 4DOF of a humanoid BERT II arm with posture control

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