مشخصات پژوهش

عنوان	Fuzzy Sliding Mode Controller Design for a Cooperative Robotic System With Uncertainty for Handling an Object
نوع پژوهش	مقاله چاپ‌شده در مجلات علمی
کلیدواژه‌ها	Control equipment, Robotics, Robots, Shapes, Surface mount components, Uncertainty, Design, Simulation results, Stability, Dynamics (Mechanics), Trajectories (Physics), Manipulators
چکیده	This paper proposes a control framework for a cooperative robotic system to grasp and handle an object with known geometry in the presence of uncertainty in robot dynamics. Based on passive decomposition approach, dynamic equations of the cooperative robotic system are decomposed into two decoupled systems, shape and locked systems. The locked system and the shape system are controlled by two fuzzy sliding mode controllers (SMCs). Stability is studied through passivity property and Lyapunov theorem. Simulation results confirm that the proposed control scheme works well.
پژوهشگران	مریم فرهمندراد (نفر اول)، سهیل گنجه فر (نفر دوم)، حیدرعلی طالبی (نفر سوم)، مهدی بیاتی (نفر چهارم)