Journal cover Journal topic
Mechanical Sciences An open-access journal for theoretical and applied mechanics
Journal topic

Journal metrics

Journal metrics

  • IF value: 1.052 IF 1.052
  • IF 5-year value: 1.567 IF 5-year
  • CiteScore value: 1.92 CiteScore
  • SNIP value: 1.214 SNIP 1.214
  • IPP value: 1.47 IPP 1.47
  • SJR value: 0.367 SJR 0.367
  • Scimago H <br class='hide-on-tablet hide-on-mobile'>index value: 18 Scimago H
    index 18
  • h5-index value: 16 h5-index 16
Supported by
Logo Library of Delft University of Technology Logo NWO
Affiliated to
Logo iftomm
Volume 7, issue 1
Mech. Sci., 7, 1–8, 2016
© Author(s) 2016. This work is distributed under
the Creative Commons Attribution 3.0 License.
Mech. Sci., 7, 1–8, 2016
© Author(s) 2016. This work is distributed under
the Creative Commons Attribution 3.0 License.

Research article 15 Jan 2016

Research article | 15 Jan 2016

Realisation of model reference compliance control of a humanoid robot arm via integral sliding mode control

S. G. Khan1 and J. Jalani2 S. G. Khan and J. Jalani
  • 1Department of Mechanical Engineering, College of Engineering Yanbu, Taibah University, Al Madinah, Saudi Arabia
  • 2Department of Electrical Engineering Technology, University Tun Hussein Onn Malaysia, Batu Pahat, Malaysia

Abstract. Human safety becomes critical when robot enters the human environment. Compliant control can be used to address some safety issues in human-robot physical interaction. This paper proposes an integral sliding mode controller (ISMC) based compliance control scheme for the Bristol Robotics Laboratory's humanoid BERT II robot arm. Apart from introducing a model reference compliance controller, the ISMC scheme is aimed to deal with the robot arm dynamic model's inaccuracies and un-modelled nonlinearities. The control scheme consists of a feedback linearization (FL) and an ISMC part. In addition, a posture controller has been incorporated to employ the redundant DOF and generate human like motion. The desired level of compliance can be tuned by selecting the stiffness and damping parameters in the sliding mode variable (compliance reference model). The results show that the compliant control is feasible at different levels for BERT II in simulation and experiment. The positioning control has been satisfactorily achieved and nonlinearities and un-modelled dynamics have been successfully overcome.

Publications Copernicus