Sliding Mode Control of the PUMA 560 Robot

Arezki Fekik; Ahmad Taher Azar; Mohamed Lamine Hamida; Hakim Denoun; Dyhia Kais; Sabrina Mohand Saidi; Amar Bousbaine; Ibraheem Kasim; Nashwa Ahmad Kamal; Ammar K. Al Mhdawi; Farah Ayad Abdul-Majeed; Chakib Ben Njima

doi:10.1109/iccad57653.2023.10152456

Sliding Mode Control of the PUMA 560 Robot

Arezki Fekik
, Ahmad Taher Azar
, Mohamed Lamine Hamida
, Hakim Denoun
, Dyhia Kais
, Sabrina Mohand Saidi
, Amar Bousbaine
, Ibraheem Kasim
, Nashwa Ahmad Kamal
, Ammar K. Al Mhdawi
, Farah Ayad Abdul-Majeed
, Chakib Ben Njima

University Akli Mohand Oulhadj-Bouria
Automated Systems & Soft Computing Lab
Electrical Engineering Advanced Technology Laboratory (LATAGE),Algeria
Mouloud Mammeri University
University of Derby
Dijlah University College
Cairo University,Faculty of Engineering,Giza,Egypt
Alfarahidi University
University of Sousse

Research output: Chapter in Book/Report/Conference proceeding › Conference proceeding (ISBN) › peer-review

17 Citations (Scopus)

Abstract

The purpose of this article is to present the application of the sliding mode control and investigate its effectiveness when applied to a three-dimensional robotic manipulator model. The analysis is based on the application of the sliding mode control law for the PUMA 560 model, three degrees of freedom, through the development of a dynamic simulation model. The simulation results show the effectiveness of this proposed method for the automation of industrial applications, such as assembly, machining (deburring, trimming), and surface tracking (polishing). This technique provides a useful insight into the advantages of using sliding mode control laws in robotics applications.

Original language	English
Title of host publication	2023 International Conference on Control, Automation and Diagnosis, ICCAD 2023
Subtitle of host publication	10-12 May 2023
Editors	Muhammad Khalid , Zineb Simeu-Abazi, Ahmad Taher Azar, Chakib Ben Njima , Muhammad Majid Gulzar, Latifa Abdou, E. Gascard, Nashwa Ahmad Kamal, Farah Ayad Abdul-Majeed, Z. Simeu-Abazi, Peter Onu, Hichem Snoussi, Kais Bouzrara, Ameni El Anes, Anup Pradhan, Karim Tahboub, Charles Mbohwa, Simona Domazetovska, Paolo Massioni, Lotfi Saidi, Oussama Lahmar, Frank Naets, Md Muzakkir Quama, Ergina Kavallieratou, Pedro Sousa
Place of Publication	Rome, Italy
Publisher	IEEE Xplore
Pages	1-6
Number of pages	6
ISBN (Electronic)	979-8-3503-4707-4
ISBN (Print)	979-8-3503-4708-1
DOIs	https://doi.org/10.1109/iccad57653.2023.10152456
Publication status	Published - 23 Jun 2023

Publication series

Name	2023 International Conference on Control, Automation and Diagnosis, ICCAD 2023

Keywords

Analytical models
Automation
Service robots
Tracking
Simulation
Stability analysis
Trajectory
Vehicle dynamics
Sliding mode control
Robots
Robotic manipulators
PUMA 560
Stability Analysis

Access to Document

10.1109/iccad57653.2023.10152456

Cite this

Fekik, A., Azar, A. T., Hamida, M. L., Denoun, H., Kais, D., Saidi, S. M., Bousbaine, A., Kasim, I., Kamal, N. A., Al Mhdawi, A. K., Abdul-Majeed, F. A., & Njima, C. B. (2023). Sliding Mode Control of the PUMA 560 Robot. In M. Khalid , Z. Simeu-Abazi, A. Taher Azar, C. Ben Njima , M. Majid Gulzar, L. Abdou, E. Gascard, N. Ahmad Kamal, F. A. Abdul-Majeed, Z. Simeu-Abazi, P. Onu, H. Snoussi, K. Bouzrara, A. El Anes, A. Pradhan, K. Tahboub, C. Mbohwa, S. Domazetovska, P. Massioni, L. Saidi, O. Lahmar, F. Naets, M. Muzakkir Quama, E. Kavallieratou, ... P. Sousa (Eds.), 2023 International Conference on Control, Automation and Diagnosis, ICCAD 2023: 10-12 May 2023 (pp. 1-6). (2023 International Conference on Control, Automation and Diagnosis, ICCAD 2023). IEEE Xplore. https://doi.org/10.1109/iccad57653.2023.10152456

Fekik, Arezki ; Azar, Ahmad Taher ; Hamida, Mohamed Lamine et al. / Sliding Mode Control of the PUMA 560 Robot. 2023 International Conference on Control, Automation and Diagnosis, ICCAD 2023: 10-12 May 2023. editor / Muhammad Khalid ; Zineb Simeu-Abazi ; Ahmad Taher Azar ; Chakib Ben Njima ; Muhammad Majid Gulzar ; Latifa Abdou ; E. Gascard ; Nashwa Ahmad Kamal ; Farah Ayad Abdul-Majeed ; Z. Simeu-Abazi ; Peter Onu ; Hichem Snoussi ; Kais Bouzrara ; Ameni El Anes ; Anup Pradhan ; Karim Tahboub ; Charles Mbohwa ; Simona Domazetovska ; Paolo Massioni ; Lotfi Saidi ; Oussama Lahmar ; Frank Naets ; Md Muzakkir Quama ; Ergina Kavallieratou ; Pedro Sousa. Rome, Italy : IEEE Xplore, 2023. pp. 1-6 (2023 International Conference on Control, Automation and Diagnosis, ICCAD 2023).

@inproceedings{d202f7dc0a2841aea1bc39bc70c4f043,

title = "Sliding Mode Control of the PUMA 560 Robot",

abstract = "The purpose of this article is to present the application of the sliding mode control and investigate its effectiveness when applied to a three-dimensional robotic manipulator model. The analysis is based on the application of the sliding mode control law for the PUMA 560 model, three degrees of freedom, through the development of a dynamic simulation model. The simulation results show the effectiveness of this proposed method for the automation of industrial applications, such as assembly, machining (deburring, trimming), and surface tracking (polishing). This technique provides a useful insight into the advantages of using sliding mode control laws in robotics applications.",

keywords = "Analytical models, Automation, Service robots, Tracking, Simulation, Stability analysis, Trajectory, Vehicle dynamics, Sliding mode control, Robots, Robotic manipulators, PUMA 560, Stability Analysis",

author = "Arezki Fekik and Azar, \{Ahmad Taher\} and Hamida, \{Mohamed Lamine\} and Hakim Denoun and Dyhia Kais and Saidi, \{Sabrina Mohand\} and Amar Bousbaine and Ibraheem Kasim and Kamal, \{Nashwa Ahmad\} and \{Al Mhdawi\}, \{Ammar K.\} and Abdul-Majeed, \{Farah Ayad\} and Njima, \{Chakib Ben\}",

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doi = "10.1109/iccad57653.2023.10152456",

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editor = "\{Khalid \}, \{Muhammad \} and Zineb Simeu-Abazi and \{ Taher Azar\}, Ahmad and \{ Ben Njima \}, Chakib and \{Majid Gulzar\}, \{Muhammad \} and \{ Abdou\}, Latifa and Gascard, \{E. \} and \{Ahmad Kamal\}, \{Nashwa \} and Abdul-Majeed, \{Farah Ayad\} and Z. Simeu-Abazi and Peter Onu and \{ Snoussi\}, Hichem and Bouzrara, \{Kais \} and \{El Anes\}, \{Ameni \} and Pradhan, \{Anup \} and Tahboub, \{Karim \} and Mbohwa, \{Charles \} and Domazetovska, \{Simona \} and Massioni, \{Paolo \} and Saidi, \{Lotfi \} and Lahmar, \{Oussama \} and Naets, \{Frank \} and \{Muzakkir Quama\}, \{Md \} and \{ Kavallieratou\}, Ergina and Sousa, \{Pedro \}",

booktitle = "2023 International Conference on Control, Automation and Diagnosis, ICCAD 2023",

}

Fekik, A, Azar, AT, Hamida, ML, Denoun, H, Kais, D, Saidi, SM, Bousbaine, A, Kasim, I, Kamal, NA, Al Mhdawi, AK, Abdul-Majeed, FA & Njima, CB 2023, Sliding Mode Control of the PUMA 560 Robot. in M Khalid , Z Simeu-Abazi, A Taher Azar, C Ben Njima , M Majid Gulzar, L Abdou, E Gascard, N Ahmad Kamal, FA Abdul-Majeed, Z Simeu-Abazi, P Onu, H Snoussi, K Bouzrara, A El Anes, A Pradhan, K Tahboub, C Mbohwa, S Domazetovska, P Massioni, L Saidi, O Lahmar, F Naets, M Muzakkir Quama, E Kavallieratou & P Sousa (eds), 2023 International Conference on Control, Automation and Diagnosis, ICCAD 2023: 10-12 May 2023. 2023 International Conference on Control, Automation and Diagnosis, ICCAD 2023, IEEE Xplore, Rome, Italy, pp. 1-6. https://doi.org/10.1109/iccad57653.2023.10152456

Sliding Mode Control of the PUMA 560 Robot. / Fekik, Arezki; Azar, Ahmad Taher; Hamida, Mohamed Lamine et al.
2023 International Conference on Control, Automation and Diagnosis, ICCAD 2023: 10-12 May 2023. ed. / Muhammad Khalid ; Zineb Simeu-Abazi; Ahmad Taher Azar; Chakib Ben Njima ; Muhammad Majid Gulzar; Latifa Abdou; E. Gascard; Nashwa Ahmad Kamal; Farah Ayad Abdul-Majeed; Z. Simeu-Abazi; Peter Onu; Hichem Snoussi; Kais Bouzrara; Ameni El Anes; Anup Pradhan; Karim Tahboub; Charles Mbohwa; Simona Domazetovska; Paolo Massioni; Lotfi Saidi; Oussama Lahmar; Frank Naets; Md Muzakkir Quama; Ergina Kavallieratou; Pedro Sousa. Rome, Italy: IEEE Xplore, 2023. p. 1-6 (2023 International Conference on Control, Automation and Diagnosis, ICCAD 2023).

Research output: Chapter in Book/Report/Conference proceeding › Conference proceeding (ISBN) › peer-review

TY - GEN

T1 - Sliding Mode Control of the PUMA 560 Robot

AU - Fekik, Arezki

AU - Azar, Ahmad Taher

AU - Hamida, Mohamed Lamine

AU - Denoun, Hakim

AU - Kais, Dyhia

AU - Saidi, Sabrina Mohand

AU - Bousbaine, Amar

AU - Kasim, Ibraheem

AU - Kamal, Nashwa Ahmad

AU - Al Mhdawi, Ammar K.

AU - Abdul-Majeed, Farah Ayad

AU - Njima, Chakib Ben

PY - 2023/6/23

Y1 - 2023/6/23

N2 - The purpose of this article is to present the application of the sliding mode control and investigate its effectiveness when applied to a three-dimensional robotic manipulator model. The analysis is based on the application of the sliding mode control law for the PUMA 560 model, three degrees of freedom, through the development of a dynamic simulation model. The simulation results show the effectiveness of this proposed method for the automation of industrial applications, such as assembly, machining (deburring, trimming), and surface tracking (polishing). This technique provides a useful insight into the advantages of using sliding mode control laws in robotics applications.

AB - The purpose of this article is to present the application of the sliding mode control and investigate its effectiveness when applied to a three-dimensional robotic manipulator model. The analysis is based on the application of the sliding mode control law for the PUMA 560 model, three degrees of freedom, through the development of a dynamic simulation model. The simulation results show the effectiveness of this proposed method for the automation of industrial applications, such as assembly, machining (deburring, trimming), and surface tracking (polishing). This technique provides a useful insight into the advantages of using sliding mode control laws in robotics applications.

KW - Analytical models

KW - Automation

KW - Service robots

KW - Tracking

KW - Simulation

KW - Stability analysis

KW - Trajectory

KW - Vehicle dynamics

KW - Sliding mode control

KW - Robots

KW - Robotic manipulators

KW - PUMA 560

KW - Stability Analysis

UR - https://www.scopus.com/pages/publications/85164194452

UR - https://www.scopus.com/pages/publications/85164194452#tab=citedBy

U2 - 10.1109/iccad57653.2023.10152456

DO - 10.1109/iccad57653.2023.10152456

M3 - Conference proceeding (ISBN)

SN - 979-8-3503-4708-1

T3 - 2023 International Conference on Control, Automation and Diagnosis, ICCAD 2023

SP - 1

EP - 6

BT - 2023 International Conference on Control, Automation and Diagnosis, ICCAD 2023

A2 - Khalid , Muhammad

A2 - Simeu-Abazi, Zineb

A2 - Taher Azar, Ahmad

A2 - Ben Njima , Chakib

A2 - Majid Gulzar, Muhammad

A2 - Abdou, Latifa

A2 - Gascard, E.

A2 - Ahmad Kamal, Nashwa

A2 - Abdul-Majeed, Farah Ayad

A2 - Simeu-Abazi, Z.

A2 - Onu, Peter

A2 - Snoussi, Hichem

A2 - Bouzrara, Kais

A2 - El Anes, Ameni

A2 - Pradhan, Anup

A2 - Tahboub, Karim

A2 - Mbohwa, Charles

A2 - Domazetovska, Simona

A2 - Massioni, Paolo

A2 - Saidi, Lotfi

A2 - Lahmar, Oussama

A2 - Naets, Frank

A2 - Muzakkir Quama, Md

A2 - Kavallieratou, Ergina

A2 - Sousa, Pedro

PB - IEEE Xplore

CY - Rome, Italy

ER -

Fekik A, Azar AT, Hamida ML, Denoun H, Kais D, Saidi SM et al. Sliding Mode Control of the PUMA 560 Robot. In Khalid M, Simeu-Abazi Z, Taher Azar A, Ben Njima C, Majid Gulzar M, Abdou L, Gascard E, Ahmad Kamal N, Abdul-Majeed FA, Simeu-Abazi Z, Onu P, Snoussi H, Bouzrara K, El Anes A, Pradhan A, Tahboub K, Mbohwa C, Domazetovska S, Massioni P, Saidi L, Lahmar O, Naets F, Muzakkir Quama M, Kavallieratou E, Sousa P, editors, 2023 International Conference on Control, Automation and Diagnosis, ICCAD 2023: 10-12 May 2023. Rome, Italy: IEEE Xplore. 2023. p. 1-6. (2023 International Conference on Control, Automation and Diagnosis, ICCAD 2023). Epub 2023 May 10. doi: 10.1109/iccad57653.2023.10152456

Sliding Mode Control of the PUMA 560 Robot

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