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Sliding mode control design for haptic system with vibration mode

Naveen Kumar, Jyoti Ohri
Haptic is cutting edge technology having vast application mobile, home, robotics and tele-operations etc. It has enormous scope for tele-surgery using robotic arm with haptic feedback. It brings various dicsipline such as biomedical, neurological, physics and engineering on a single platform. It have numerious scope for all field.For this, haptic robotic arm should able to emulate the desired trajectory with minimum disturbances. In the real time, a robotic haptic arm have various uncertainty, vibrations and other unmodelled parameters which impact the output adversely. In this paper, a haptic device has been modelled in presence of internal vibration mode. A robust nonlinear sliding mode control (SMC)
has been proposed in this paper. The efficacy of designed controller has been verified using simulation experiment. It has been observed that using the proposed method system follows desired trajectory accurately.
CYBERNETICS AND PHYSICS, Vol. 9, No. 4. 2020, 187–191 https://doi.org/10.35470/2226-4116-2020-9-4-187-191
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