Sliding mode motion control strategies for rigid robot manipulators

Abstract

The paper presents a new control method which achieves motion control for rigid robot manipulators. It is based on sliding mode control techniques and on the compensated inverse dynamics approach. The main advantages of using sliding mode control are robustness to parameter uncertainty, insensitivity to load disturbance, and fast dynamics response, as well as a remarkable computational simplicity with respect to other robust control approaches. Furthermore the proposed approach avoids the estimation of the time-varying inertia matrix. First order and second order sliding mode control laws are presented and in both cases the problem of chattering, typical of sliding mode control, is suitably circumvented. Some simulations results are reported demonstrating the good tracking properties and performances of the proposed control strategy. © 2007 Springer-Verlag Berlin Heidelberg.