Design of decoupled sliding mode control for the PUMA 560 robot manipulator

This paper presents the design of a decupled sliding mode control algorithm for the PUMA 560 robot arm position control. The Lagrange-Euler model of the robot is used for calculation of control law. Computer simulations of the robot with the decoupled sliding mode control and exact and non-exact model are described. The control algorithm is simple and has a good robustness with respect to the robot model uncertainty.