Terminal Sliding Control for a SCARA Robot
نویسندگان
چکیده
This paper presents a terminal sliding control law for controlling robot manipulators with parameter uncertainty, applied to a 4-DOF robot. By exploring some properties of robot manipulators, the proposed approach simplifies significantly the standard scheme of a terminal sliding control. Major simulations results using numerical values of an industrial SCARA robot prove the effectiveness of the proposed approach. The terminal sliding control and the widely used computed torque control are compared. Tracking performance in the task space and robustness (parametric uncertainty and disturbance rejection) are enlightened.
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