Trajectory tracking of 3-DOF industrial robot manipulator by sliding mode control

摘要

In this paper the sliding mode control strategy for 3-DOF PUMA robot manipulator has been presented. The robot manipulator is a group of several links that connects with the help of joints. The mathematical modelling of robotic system is used to explain dynamic behavior, linear and nonlinear characteristics as well as controller design procedures. For n-degree of freedom (DOF) serial links, axes of primary three links are called as major axes that represent the location of manipulator while four to six axes are known as minor axes that practice to estimate the alignment of manipulator end-effector. The main motive of this paper is to control major axes joints angles along with describing basic matrix equation of robot manipulator dynamics. Simulation results are presented that depicts the good tracking characteristics of robot manipulator.