Robust trajectory tracking controller for 5 degree of freedom robotic manipulator

Abstract

Kinematic and Dynamic models of Robotic manipulators are nonlinear in nature. Hence trajectory planning tracking and control has been a challenging issue in almost all obstacle avoidance problems. In trajectory planning and tracking, the designed trajectory needs to be followed for avoiding obstacles, damage of robots and end-effector tools. This paper proposes a robust controller for designed trajectory tracking of 5 Degree of freedom (DOF) phantom X pincher robotic manipulator with high nonlinearity and coupled dynamics. This paper also presents kinematic and dynamic modeling of robotic manipulator, trajectory planning and tracking using Proportional Integral Derivative (PID) and Sliding Mode Controller (SMC). The performance of the designed controllers are analyzed and compared through MATLAB Simulations.