PUMA-560 Robot Manipulator Position Sliding Mode Control Methods Using MATLAB/SIMULINK and Their Integration into Graduate/Undergraduate Nonlinear Control, Robotics and MATLAB Courses

摘要

This paper describes the MATLAB/SIMULINK realization of the PUMA 560 robot manipulator position control methodology. This paper focuses on two main areas, namely robot manipulator analysis and implementation, and design, analyzed and implement nonlinear sliding mode control (SMC) methods. These simulation models are developed as a part of a software laboratory to support and enhance graduate/undergraduate robotics courses, nonlinear control courses and MATLAB/SIMULINK courses at research and development company (SSP Co.) research center, Shiraz, Iran.