In this paper, we propose the modeling, design, realization and robust control of a manipulator robot
with three Degrees of Freedom. This robot is intended to
perform several tasks such as, moving and transport objects. In order to simplify the platform prototype and make
it light, we will opt on a simple mechanism in the structure.
In addition, we will synthesis the control laws based on
the dynamic model. Herein, we seek to present the robustness and the efficiency of the Backstepping-Sliding Mode
(BK-SM) and Integral-Backstepping-Sliding Mode (I-BK-SM)
control laws, taking into account the external perturbations,
the inertia and the mass change during the execution of the
tasks. Then, to validate and to reproduce the behavior of the
real system as faithfully as possible, we will export the 3D
model designed in Solidworks to SimMechanics environment, where a linear PID controller will be applied. This new
step is more challenging, because of the synchronization
between the two software and the control of the designed
model as it is.
Simulation results are also provided in order to illustrate
the performances of these controllers. The preliminary prototype platform and its parameters will be shown.
Modified Denavit Hanterberg