Nonlinear PD Terminal Sliding Mode Control for PUMA Robotic Manipulator

Abstract

Puma 560 is a widely used industrial robot and has many applications. The kinematic analysis is conducted based on the screw theory, and the dynamic model is simplified based on the geometrical parameters of the structure. The main purpose of this paper is to develop a new control method for puma 560. To take the advantages of nonlinear PD (NPD) control and terminal sliding mode control (TSMC), an NPD-TSMC law is proposed for trajectory tracking control of puma 560 in this paper. The NPD-TSMC is a nonlinear feedback control without the requirement of system dynamic modeling. The proposed NPD-TSMC is applied for linear and nonlinear tracking problems and the performances are compared with existing controllers. It is demonstrated that the NPD-TSMC can achieve better tracking performances, compared with other control methods.