Implementation of frictionless robot manipulator using observer-based sliding mode control

A new friction compensation technique for the implementation of the frictionless motion of the robot manipulator is presented using the observer-based sliding mode control (SMC). The proposed technique consists of the SMC and the state and disturbance observer, and provides the advantage of improving the practical limitation of the SMC such as the chattering. The design method of the proposed SMC is presented for one link of the robot manipulator. The proposed SMC is implemented in the PC-based digital control system and the experiments are carried out for the actual robot manipulator. The results well verify the effectiveness of the proposed SMC