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The application of a sliding-mode control based on a Variable Structure System (VSS) for a multijoint manipulator is presented. The high-gain effect of a sliding-mode control suppresses the complicated interactions between each joint of a robot arm. The resulting system is completely robust whereas the obtained control law is simple and easy to apply to on-line computer control. In this-paper, the practical sliding-mode controller, which has a simple nonlinear compensator and proper continuous function, is implemented for a two-linkage manipulator. The validity of this technique is confirmed in experiments where the system shows robust performance in spite of the existing nonlinear interactions and unknown parametric changes. In addition, this sliding-mode control is improved to track the desired path.
Date of Publication: Feb. 1987