Trajectory control of robot manipulator using variable structure model-reaching control strategy

Based on variable structure model-reaching control strategy, a dynamic sliding mode scheme is developed for the accurate tracking control of robot manipulators in the presence of parameteric uncertainties and external disturbance. By utilizing the known properties of the robot, the obtained control torque is given in a simple form. The controller also guarantees that the robot has prescribed qualities both in the sliding mode and during the reaching transient. The proposed control law was implemented to control two revolute joints of an MA2000 industrial robot using an IBM-AT. Experimental results show the validity of accurate tracking capability and robust performance