Trajectory control of a manipulator by the decoupling sliding mode control

비 간섭 슬라이딩 모드 기법을 이용한 로봇 매니퓰레이터의 궤도제어

In this paper, we proposed the decoupling VSS controllers for a trajectory control of a two degrees of freedom SCARA type manipulator. We decoupled the position and velocity of a manipulator tip by using a nonlinear error functions. The reference inputs of the controller can be decided directly from the desired position and velocity. Simulation result is provided to verity the effectiveness of the proposed control scheme.