Tracking control of robotic manipulator end-effector trajectory based on robust sliding mode method.

Area of Science:

• Robotics
• Control Systems Engineering
• Automation Technology

Background:

• Precise trajectory tracking is crucial for robotic manipulators (RMs) in automation, especially in hazardous environments.
• Existing control methods may struggle with accuracy and robustness in dynamic RM operations.
• Developing advanced control strategies is essential for improving RM performance and safety.

Purpose of the Study:

• To develop a robust sliding mode control (SMC) law for precise trajectory tracking of robotic manipulators.
• To enhance the stability and accuracy of RM motion control in Cartesian coordinates.
• To validate the proposed control method's effectiveness through numerical simulations.

Main Methods:

• Development of a dynamic model for the RM end-effector in Cartesian coordinates.
• Design of a robust sliding mode control (SMC) law based on the relationship between control inputs and joint torques.
• Conducting numerical simulations to evaluate trajectory tracking performance and system robustness.

Main Results:

• The proposed SMC method achieved high accuracy in trajectory tracking for robotic manipulators.
• Significant reductions in tracking errors were observed compared to conventional methods.
• Demonstrated improved performance in both path following and overall system robustness.

Conclusions:

• The developed SMC law provides a robust and accurate solution for precise trajectory tracking of RMs.
• The method is well-suited for real-time industrial automation tasks, particularly in hazardous environments.
• The simulation results confirm the efficacy and reliability of the proposed control strategy.