Motion Control of Five Bar Linkage Manipulator Using Conventional Controllers Under Uncertain Conditions

摘要

Robot trajectory tracking has been the core functioning unit in the modern industrial environ ment wherein the accuracy in the motion control of robotic manipulators is the main area of research. Based on the fact that the working of these automatic robotic machines is highly influenced by the disturbances, this paper constitutes various conventional controllers for the motion control of five bar linkage manipulator. To verify the performance of proposed conventional controllers, these are made to work with two different trajectories. Co mmon disturbances like payload & friction has been incorporated in the five bar linkage manipulator system for validation purpose. Simu lation results prove that the performance of SMC based controller is better when co mpared with other conventional controllers.