Optimization of Sliding Mode Control to Save Energy in a SCARA Robot
Luis Arturo Soriano,
José de Jesús Rubio,
Eduardo Orozco,
Daniel Andres Cordova,
Genaro Ochoa,
Ricardo Balcazar,
David Ricardo Cruz,
Jesus Alberto Meda-Campaña,
Alejandro Zacarias,
Guadalupe Juliana Gutierrez
Affiliations
Luis Arturo Soriano
Departamento de Ingeniería Mecánica Agrícola, Universidad Autónoma Chapingo, Km. 38.5 Carretera México-Texcoco, Texcoco 56235, Mexico
José de Jesús Rubio
Sección de Estudios de Posgrado e Investigación, ESIME Azcapotzalco, Instituto Politécnico Nacional, Av. de Las Granjas No. 682, Col. Santa Catarina, Mexico City 02250, Mexico
Eduardo Orozco
Sección de Estudios de Posgrado e Investigación, ESIME Azcapotzalco, Instituto Politécnico Nacional, Av. de Las Granjas No. 682, Col. Santa Catarina, Mexico City 02250, Mexico
Daniel Andres Cordova
Sección de Estudios de Posgrado e Investigación, ESIME Azcapotzalco, Instituto Politécnico Nacional, Av. de Las Granjas No. 682, Col. Santa Catarina, Mexico City 02250, Mexico
Genaro Ochoa
Sección de Estudios de Posgrado e Investigación, ESIME Azcapotzalco, Instituto Politécnico Nacional, Av. de Las Granjas No. 682, Col. Santa Catarina, Mexico City 02250, Mexico
Ricardo Balcazar
Sección de Estudios de Posgrado e Investigación, ESIME Azcapotzalco, Instituto Politécnico Nacional, Av. de Las Granjas No. 682, Col. Santa Catarina, Mexico City 02250, Mexico
David Ricardo Cruz
Instituto Tecnológico de Tlalnepantla, Tecnológico Nacional de México, Av. Instituto Tecnológico s/n, Col. La Comunidad, Tlalnepantla de Baz 54070, Mexico
Jesus Alberto Meda-Campaña
Sección de Estudios de Posgrado e Investigación, ESIME Zacatenco, Instituto Politécnico Nacional, Av. IPN s/n, Col. Lindavista, Gustavo A. Madero, Mexico City 07738, Mexico
Alejandro Zacarias
Sección de Estudios de Posgrado e Investigación, ESIME Azcapotzalco, Instituto Politécnico Nacional, Av. de Las Granjas No. 682, Col. Santa Catarina, Mexico City 02250, Mexico
Guadalupe Juliana Gutierrez
Sección de Estudios de Posgrado e Investigación, ESIME Azcapotzalco, Instituto Politécnico Nacional, Av. de Las Granjas No. 682, Col. Santa Catarina, Mexico City 02250, Mexico
Sliding mode control is a robust technique that is used to overcome difficulties such as parameter variations, unmodeled dynamics, external disturbances, and payload changes in the position-tracking problem regarding robots. However, the selection of the gains in the controller could produce bigger forces than are required to move the robots, which requires spending a large amount of energy. In the literature, several approaches were used to manage these features, but some proposals are complex and require tuning the gains. In this work, a sliding mode controller was designed and optimized in order to save energy in the position-tracking problem of a two-degree-of-freedom SCARA robot. The sliding mode controller gains were optimized usinga Bat algorithm to save energy by minimizing the forces. Finally, two controllers were designed and implemented in the simulation, and as a result, adequate controller gains were found that saved energy by minimizing the forces.
