An adaptive continuous sliding mode feedback linearization task space control for robot manipulators

Abstract

Two main domains have been followed; joint space control and operational (task) space control for robot manipulators. Task space control is simpler than joint space control as it avoids tackling the robot inverse kinematics which is very complex and challenging. However, in order to design robust and accurate controllers in operational space, both kinematics and dynamics uncertainties must be considered. Additionally, singularities that may occur while mapping between joint space and task space should be addressed. To tackle these issues, a new adaptive task space control approach is developed in this paper. The developed approach is able to overcome uncertainties and mitigate the chattering that commonly occur during the control process. The introduced control system has been proven to be globally stable using a designed Lyapunov function. The simulation results show that the suggested model is able to control the robot manipulators efficiently even in the existence of external disturbances.