Kinematic control of a 6 DOF robotic manipulator using sliding mode

Abstract

In this paper, the effect of adding sliding mode methodology to the kinematic control of robot manipulators with damped least square (DLS) Jacobian inverse is studied. The proposed controller is experimentally tested on a 6 degree of freedom (DoF) robotic manipulator. Three different types of end-effector path are considered for which the controller performance is evaluated. The results show that the inclusion of the sliding mode improves the controller performance.