Modeling and Simulation Applied for Robotics Manipulator’s Driving

The present paper will impose a driving strategy for a particular nonlinear system, for example for a robot consists of a single segment, which has a flexible hinge. Transmission is more accurate, with a line size of the input provided by engine torque. Because of the robot arm speed can not be measured accurately one estimate the desired state through an Observer system. System that is intended to be driven is nonlinear, more exactly an affine system with a mono-variable type with uncertainties of some parameters and also of a state functions. It is known that the robustness to model parameter uncertainties and external disturbances of the closed loop can be achieved with a variable structure controller. Maintaining the system on a sliding surface weakens the influence of the uncertainties in the closed loop performances and quickly leads to an equilibrium point. Key-Words: Arm, Joint, Nonlinear Command, Manipulator, Robot, Sliding observer, Sliding controller.