PUMA-560 Robot Manipulator Position Sliding Mode Control Methods Using MATLAB/SIMULINK and Their Integration into Graduate/Undergraduate Nonlinear Control, Robotics and MATLAB Courses

Farzin Piltan; Sara Emamzadeh; Zahra Hivand; Forouzan Shahriyari; Mina Mirzaei

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PUMA-560 Robot Manipulator Position Sliding Mode Control Methods Using MATLAB/SIMULINK and Their Integration into Graduate/Undergraduate Nonlinear Control, Robotics and MATLAB Courses

机译：使用MATLAB / SIMULINK的PUMA-560机器人机械手位置滑模控制方法及其与研究生/本科生非线性控制，机器人技术和MATLAB课程的集成

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This paper describes the MATLAB/SIMULINK realization, modeling and implementation of the PUMA 560 robot manipulator. This paper focuses on robot manipulator analysis and implementation and analyzed. This simulation models are developed as a part of a software laboratory to support and enhance graduate robotics courses, and MATLAB/SIMULINK courses at research and development company (SSP Co.) research center, Shiraz, Iran.

机译：本文描述了PUMA 560机械手的MATLAB / SIMULINK实现，建模和实现。本文重点研究机器人操纵器的分析与实现与分析。此仿真模型是作为软件实验室的一部分开发的，以支持和增强研究生的机器人技术课程，以及伊朗设拉子的研发公司（SSP Co.）研究中心的MATLAB / SIMULINK课程。

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《International Journal of Intelligent Systems and Applications in Robotics》 |2012年第3期|共45页
作者
Farzin Piltan; Sara Emamzadeh; Zahra Hivand; Forouzan Shahriyari; Mina Mirzaei;
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中图分类机器人技术;
关键词
MATLAB/SIMULINKPUMA 560 Robot ManipulatorPosition Control MethodSliding Mode ControlRobotics;

机译：MATLAB / SIMULINKPUMA 560机械手位置控制方法滑模控制机器人;

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1. PUMA-560 Robot Manipulator Position Computed Torque Control Methods Using MATLAB/SIMULINK and Their Integration into Graduate Nonlinear Control and MATLAB Courses [J] . Farzin Piltan, Mohammad Hossein Yarmahmoudi, Mohammad Shamsodini, International Journal of Intelligent Systems and Applications in Robotics . 2012,第3期

机译：使用MATLAB / SIMULINK的PUMA-560机器人机械手位置计算转矩控制方法及其与研究生非线性控制和MATLAB课程的集成
2. Sliding Mode Methodology Vs. Computed Torque Methodology Using MATLAB/SIMULINK and Their Integration into Graduate Nonlinear Control Courses [J] . Farzin Piltan, Sajad Rahmdel, Saleh Mehrara, International Journal of Engineering (IJE) . 2012,第3期

机译：滑动模式方法与使用MATLAB / SIMULINK的计算扭矩方法及其与研究生非线性控制课程的集成
3. DC Motor Speed Control Methods Using MATLAB/Simulink and Their Integration into Undergraduate Electric Machinery Courses [J] . SAFFET AYASUN, GUELTEKIN KARBEYAZ Computer applications in engineering education . 2007,第4期

机译：使用MATLAB / Simulink的直流电动机速度控制方法及其与本科电机课程的集成
4. Sliding Mode Control of a Two-link Robot Manipulator Using Adams Matlab Software [C] . Sinan İlgen, Akif Durdu, Erdi Gülbahçe, 2018 6th International Conference on Control Engineering amp; Information Technology . 2018

机译：使用Adams和Matlab软件的两连杆机器人机械手的滑模控制
5. DYNAMIC MODELING AND CONTROL OF ROBOTIC MANIPULATORS (ROBOTICS, CONTROL ENGINEERING, NONLINEAR CONTROL). [D] . TOURASSIS, VASSILIOS DIMITRIOS. 1985

机译：机器人的动力学建模与控制（机器人，控制工程，非线性控制）。
6. Pareto Design of State Feedback Tracking Control of a Biped Robot via Multiobjective PSO in Comparison with Sigma Method and Genetic Algorithms: Modified NSGAII and MATLABs Toolbox [O] . M. J. Mahmoodabadi, M. Taherkhorsandi, A. Bagheri -1

机译：与Sigma方法和遗传算法相比通过多目标PSO对Biped机器人进行状态反馈跟踪控制的帕累托设计：改进的NSGAII和MATLAB工具箱
7. From "System Modeling" to "Controller Hardware Testing" in Three Hours: A Robotic Arm Controller Design Lab Using MATLAB Real Time Windows Target to Reinforce Classical Control Theory [O] . Charles Birdsong -1

机译：从“系统建模”到“控制器硬件测试”三小时：机器人臂控制器设计实验室使用MATLAB实时窗口目标来强化古典控制理论
8. Decentralized sliding mode control of nonlinear flexible robots [R] . Parker, G G, Robinett, R D, Segalman, D J, 1994

机译：非线性柔性机器人的分散滑模控制

PUMA-560 Robot Manipulator Position Sliding Mode Control Methods Using MATLAB/SIMULINK and Their Integration into Graduate/Undergraduate Nonlinear Control, Robotics and MATLAB Courses

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