Dynamics and control of injection molding takeout manipulator

A robot manipulator is expected to play an important role in the production process of plastic factory. A sliding mode controller is present for a 4-DOF injection molding machines take out manipulator. The dynamic model of the manipulator has been built, and the stability of the control system is analyzed with the Lyapunov theory. The simulation experiment about the desired position trajectory tracking is carried out, and the results show that the built controller is effective.