Realization of a control device for a robotic manipulator based on nonlinear decoupling and sliding mode control

The realization of a control system for a robotic manipulator is described. The control scheme is subdivided into two hierarchical levels: the inner level performs the output decoupling of the joint dynamics: the outer one computes the desired accelerations. The decoupling, obtained by a simplified compensator and a sliding mode technique, is realized by means of analog circuits, while the tracking of the desired trajectories is performed by a digital computer. The description of measurements and tests is included.<
>