Sliding Mode Control design for EOD robot manipulator and multiphysic analysis

This paper presents a focus on the dynamic behaviour and the control strategies for an Explosive Ordnance Disposal (EOD) robot. The designed controllers are of two types: PI (Proportional Integral) and SMC (Sliding Mode Control). A CAD-based approach was used to extrapolate information regarding the dynamics of the system and obtaining optimal performance from the second controller. The flexibility of the manipulator's last link was also considered. Three different analyses were carried out. In the first, where the flexibility of the last link has been neglected, all motors are controlled by the PI system. In the second, the flexibility of the third link is taken into account without changing the type of control system. In the third, the control system used is SMC. The obtained results show that the robot is able to carry out the picking and transport task and that the best performer control in SMC type. Moreover, the state of deformation and stress evaluated are not critical for the analyzed component.