Table look-up variable structure control for robotic arms

In this paper, a variable structure control method with look-up table is proposed and applied to nonlinear time varying manipulator. The robustness in control system against parametric variations and external disturbance is achieved. The suitable part of control torque is picked up from the established angle-related table. The primary purpose of this design is to lower the level of calculation complexity so that calculation time can be greatly decreased in actual machine robot arm application. Another important advantage is that joint angular velocities are not necessary to measure or observe.