Practical trajectory control of robot manipulators using adaptive sliding control scheme

An adaptive sliding mode scheme is developed for the accurate tracking control of a robotic manipulator in the presence of disturbances, parameter variations, and nonlinear dynamic interactions. Coupling the online estimation of unknown manipulator and payload parameters to the sliding mode control effectively improves the tracking performance. The developed method is implemented using the Motorola 8-MHz MC68000 microprocessor on a two-link revolute joint manipulator. Experiment results show the accurate tracking capability and robust performance of the system.<>