Sliding Mode Control of an Internet Teleoperated PUMA 600 Robot

In this paper, we have developed a sliding mode
controller for PUMA 600 manipulator robot, to control the remote
robot a teleoperation system was developed. This system includes
two sites, local and remote. The sliding mode controller is installed
at the remote site. The client asks for a position through an interface
and receives the real positions after running of the task by the remote
robot. Both sites are interconnected via the Internet. In order to verify
the effectiveness of the sliding mode controller, that is compared with
a classic PID controller. The developed approach is tested on a virtual
robot. The results confirmed the high performance of this approach.

Authors:

• Abdallah Ghoul
• Bachir Ouamri
• Ismail Khalil Bousserhane

Keywords:

• Internet
• manipulator robot
• PID controller
• remote control
• sliding mode
• teleoperation.

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