A study on the trajectory control of SCARA robot using sliding mode

슬라이딩 모드를 이용한 SCARA 로보트의 궤적제어에 관한 연구

In this paper, we suggest a new algorithm diminishing the chattering in sliding mode control by setting a dead-band along the switching line on the phase plane although nonlinear terms of an nonlinear system are regarded as disturbances and apply this algorithm to the trajectory control of SCARA robot By this algorithm, we can expect the high performance of the trajectory trajet of an industrial robot which needs a robust and simple algorithm.