Non-singular fast terminal sliding mode of a 6-DOF manipulator trajectory following control

Abstract

The robot arm integrates modern technology such as intelligent technology, which makes it have the advantages of high flexibility and high production efficiency. Therefore, the robotic arm is mostly used to replace a single boring repetitive operation, to achieve the liberation of human labor force. Because the robot arm system itself is a nonlinear complex system, in the process of executing the target task, the control accuracy of the actuator, the error of the system modeling, the time delay and other problems will have a great impact on the result. To solve the above problems, a non-singular fast terminal sliding mode (NFTSM) trajectory tracking control algorithm is designed, and the superiority of the proposed control method is verified by simulation comparison.