Trajectory tracking of 3-DOF industrial robot manipulator by sliding mode control

In this paper the sliding mode control strategy for 3-DOF PUMA robot manipulator has been presented. The robot manipulator is a group of several links that connects with the help of joints. The mathematical modelling of robotic systemis used to explain dynamic behavior, linear and nonlinear characteristics as well as controller design procedures. For n-degree of freedom (DOF) serial links, axes of primary three links arecalled as major axes that represent the location of manipulator while four to six axes are known as minor axes that practice toestimate thealignment of manipulator end-effector. Themain motive of this paperis to control major axes joints anglesalong with describing basic matrix equation of robot manipulator dynamics. Simulation results are presented that depicts the good tracking characteristics of robot manipulator.