Sliding Mode Ccontrol for 5-DOF Manipulator

Manipulator is a combination product of high technology-intensive of electronic and machinery. It has become an important field of technological in industrial nations. This paper is conceived as follows: Based on the structural characteristics of manipulators, the dynamic model of robot is built by using the Lagrange method; A sliding mode variable structure controller is designed for the manipulator; Then, simulation results verified the feasibility of the controller.