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Control of an Exoskeleton Robot Arm with Sliding Mode Exponential Reaching Law

Mohammad H. Rahman, Maarouf Saad, Jean-Pierre Kenné, and Philippe S. Archambault
International Journal of Control, Automation, and Systems, vol. 11, no. 1, pp.92-104, 2013

Abstract : Robots are now working not only in human environments but also interacting with humans, e.g., service robots or assistive robots. A 7DoFs robotic exoskeleton MARSE-7 (motion assistive robotic-exoskeleton for superior extremity) was developed as an assistive robot to provide movement as-sistance and/or ease daily upper-limb motion. In this paper, we highlight the nonlinear control of MARSE-7 using the modified sliding mode exponential reaching law (mSMERL). Conventional sliding control produces chattering which is undesired for this kind of robotic application as it causes damage to the mechanical structure. Compared to conventional sliding control, our approach significantly re-duces chattering and delivers a high dynamic tracking performance. The control architecture was im-plemented on a field-programmable gate array (FPGA) in conjunction with a RT-PC. In experiments, trajectory tracking that corresponds to typical passive arm movement exercises for single and multi joint movements were performed to evaluate the performance of the developed robot and the controller. Experimental results demonstrate that the MARSE-7 can effectively track the desired trajectories.

Keyword : Chattering, exponential reaching law, field-programmable gate array (FPGA), robotic exoskeleton, sliding control, trajectory tracking.

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