Modeling 3-Degree of freedom robotics manipulator with PID and sliding mode controller

Abstract

In this paper, 3-Degree of Freedom (DOF) serial links robot manipulator is modeled and controlled using two different types of control techniques. The trajectory and position control is performed by classical PID controller and Sliding Mode Controller (SMC). The controller aim is to keep the rotate angles of all three links at the desired angles and remove the end effector oscillation. The modeling and the controlling are implemented by MATLAB/ Simulink. The comparison between the dynamic response for 3-DOF serial robotics arms under classical PID controller and Sliding Mode Controller is presented and the results are better than results in PID controller.