Trajectory Tracking in a 3-DOF Robotic Manipulator using Sliding Mode Controller

摘要

In this paper the problem of trajectory tracking in 3DOF robotic manipulator device using sliding mode controller is addressed. This paper provides the mathematical modelling of robotic manipulator. For controlling the tracking error and getting smooth control torque, variants of sliding mode controller (SMC) will be applied to the mathematical model of manipulator using MATLAB simulation environment.