Robust and Smooth Nonlinear Control of an Industrial Robot for Automated Pick and Place

Abstract

This paper seeks to achieve an efficient control scheme that can be applied to industrial pick and place robotic manipulators. The mathematical model of this industrial pick and place system is based on the concept of an inverted pendulum on a moving cart whose movement is restricted in horizontal direction. Inverted pendulum systems are often used to model robotic systems. A sliding mode control has been proposed when the model has been dealt based on this idea. This controller is smooth, robust and rejects the model uncertainties and perturbations. Controls have been formulated independently and efficiency of the robotic system has been proved by numerical simulations.