The Variable Boundary Layer Sliding Mode Control: A Safe and Performant Control for Compliant Joint Manipulators

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Abstract

The control of compliant joint manipulators is
challenging for two reasons. First, the elastic elements of the
compliant actuators can store an important amount of energy
which can be potentially dangerous and needs therefore to
be controlled. Second, the compliance introduces nonlinearities
and uncertainties in the system. In this paper, we propose a
new control scheme, the Variable Boundary layer Sliding Mode
Control (VBSMC) for a safe and performant control of compliant
joint manipulators. The control method allows achieving various
interaction levels while maintaining good performances. This
is realized by adjusting the torque limit parameter and the
expanding factor of the controller. Tests have been carried on the
collaborative robot Baxter in order to compare the performances
and the safe behaviour of the VBSMC with the internal controller
of the robot. Results show that the VBSMC exhibits either similar
or higher performances than the robot controller and can achieve
different interaction levels.
Original languageEnglish
Article number16-0018
Pages (from-to)187 - 192
Number of pages6
JournalIEEE Robotics and Automation Letters
Volume2
Issue number1
DOIs
Publication statusPublished - 7 Jul 2016

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