SAVING OF ENERGY IN ROBOTICS BY USING MODIFIED VARIABLE-STRUCTURE CONTROL METHODS

Vesna Krajčí - Ladislav Jurišica

   Saving of energy by modifying a very simple variable-structure control (VSC) method containing the sign function has been tested on a circular robot tool tip trajectory. Parameters of the modified variable-structure controllers are adjusted according to these three principles: desired tracking error, no chattering and minimum of energy. The results of computer simulations show the energy reducing of 3.7 times compared with the original variable-structure control method.

Keywords: robotics, energy, variable-structure control, simulation

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