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Upravljanje u režimu klizanja kretanjem robotskog sistema sa tri stepena slobode pogonjen jednosmernim motorima
Upravlenie v skol'zjaščem režime dviženiem robotizirovannoj sistemy s tremja stepenjami svobody s privodom dvigateljami postojannogo toka / (francuski) Contrôle dans le régime de glissement chez le système robotique à trois degrés de liberté propulsé par les moteurs à courant continu
dc.creator | Lazarević, Mihailo | |
dc.creator | Batalov, Srećko | |
dc.date.accessioned | 2022-09-19T17:35:57Z | |
dc.date.available | 2022-09-19T17:35:57Z | |
dc.date.issued | 2015 | |
dc.identifier.issn | 1820-0206 | |
dc.identifier.uri | https://machinery.mas.bg.ac.rs/handle/123456789/2061 | |
dc.description.abstract | U ovom radu, predloženo je upravljanje u kliznom režimu kretanjem robotskog sistema sa 3 stepena slobode pogonjen jednosmernim motorima. Prvenstveno je projektovan kontroler u kliznom režimu i koji je baziran na PD kliznoj površi. Numeričke simulacije su sprovedene sa ciljem ilustrovanja osobina robusnosti predloženog sistema upravljanja kao i značaja smanjenja izlaznih oscilacija chattering-free datog robotskog sistema. Konačno, simulacioni primer pokazuje izvodljivost i efikasnost predloženog pristupa. | sr |
dc.description.abstract | This paper proposes a sliding mode control of a 3-DOF robotic system driven by DC motors. Primarily, a conventional sliding mode controller based on a pd sliding surface is designed. Numerical simulations have been carried out to show the proposed control system's robustness properties as well as the significance of the proposed control which resulted in reducing output oscillations (chattering-free) of the given robot. Finally, a simulation example shows the feasibility and effectiveness of the proposed approach. | en |
dc.publisher | Vojnotehnički institut, Beograd | |
dc.relation | info:eu-repo/grantAgreement/MESTD/Technological Development (TD or TR)/35006/RS// | |
dc.rights | openAccess | |
dc.rights.uri | https://creativecommons.org/licenses/by/4.0/ | |
dc.source | Scientific Technical Review | |
dc.subject | upravljanje u režimu klizanja | sr |
dc.subject | teorija upravljanja | sr |
dc.subject | robotizovani sistem | sr |
dc.subject | roboti | sr |
dc.subject | nelinearni sistem | sr |
dc.subject | theory of control | en |
dc.subject | sliding mode control | en |
dc.subject | robots | en |
dc.subject | robotic system | en |
dc.subject | nonlinear system | en |
dc.title | Upravljanje u režimu klizanja kretanjem robotskog sistema sa tri stepena slobode pogonjen jednosmernim motorima | sr |
dc.title | Upravlenie v skol'zjaščem režime dviženiem robotizirovannoj sistemy s tremja stepenjami svobody s privodom dvigateljami postojannogo toka / (francuski) Contrôle dans le régime de glissement chez le système robotique à trois degrés de liberté propulsé par les moteurs à courant continu | RUS |
dc.title | Sliding mode control of a three-DOF robotic system driven by DC motors | en |
dc.type | article | |
dc.rights.license | BY | |
dc.citation.epage | 14 | |
dc.citation.issue | 1 | |
dc.citation.other | 65(1): 3-14 | |
dc.citation.rank | M51 | |
dc.citation.spage | 3 | |
dc.citation.volume | 65 | |
dc.identifier.doi | 10.5937/STR1501003L | |
dc.identifier.fulltext | http://machinery.mas.bg.ac.rs/bitstream/id/846/2058.pdf | |
dc.type.version | publishedVersion |