Research Article Open Access

Trajectory Tracking Control of UR5 Robot Manipulator Using Fuzzy Gain Scheduling Terminal Sliding Mode Controller

Andualem Welabo1 and Gebremichael Tesfamariamr2
  • 1 Addis Ababa Science and Technology University, Addis Ababa, Ethiopia
  • 2 Mekelle University, Mekelle, Ethiopia
Journal of Mechatronics and Robotics
Volume 4 No. 1, 2020, 113-135

DOI: https://doi.org/10.3844/jmrsp.2020.113.135

Submitted On: 14 March 2020 Published On: 24 July 2020

How to Cite: Welabo, A. & Tesfamariamr, G. (2020). Trajectory Tracking Control of UR5 Robot Manipulator Using Fuzzy Gain Scheduling Terminal Sliding Mode Controller. Journal of Mechatronics and Robotics, 4(1), 113-135. https://doi.org/10.3844/jmrsp.2020.113.135

Abstract

In dealing with the trajectory tracking control of robotic manipulator many scholars have had to work in a sliding mode controller. However, SMC has two major limitations one is chattering the other is asymptotical convergence. The chattering problem occurs in traditional SMC due to the switching function of the discontinuous controller and the constant gain parameter of K. Though in this study a Fuzzy Gain Scheduling Terminal Sliding Mode (FGSTSM) controller with a hyperbolic tangent function instead of signum function, is proposed and applied for tracking control of the UR5 robot manipulator. Moreover, the mathematical model of the UR5 robot manipulator using the Newton-Euler algorithm was developed on Maple software of version Maple 18.2. Hence the trajectory tracking control of the UR5 robot manipulator simulation was conducted on MATLAB/SIMULINK of version Matlab R2016a. Then for simulation purposes, a curve (arc) was taken as the desired trajectory for the robot manipulator to track and finally the result is compared with the conventional SMC controller.

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Keywords

  • UR5 Robot
  • Fuzzy Gain Scheduling
  • Terminal Sliding Mode Controller
  • Trajectory Tracking