Overcoming control complexity of constrained three-link manipulator using sliding-mode control

Dimirovski, G. M. (Dogus Author) -- Conference full title: 2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016; Budapest; Hungary; 9 October 2016 through 12 October.For constrained three-link manipulation robots it is shown how the complexity of controlling anthropomorphic arm-like manipulators can be considerable ameliorated by designing a sliding-mode control. First, a representation singular system model of three-link manipulators is established by employing constrained equations and corresponding descriptions of force restriction. Then sliding-mode control with constrained control inputs for three-link manipulator is expatiated as appropriate. Based on quadratic performance index, the optimal sliding mode switching function for three-link manipulator system is derived and a modified reaching law on the grounds of the singular model is constructed using a power function. Then the sliding mode controller for three-link constrained manipulator is designed using the proposed reaching law. Using PUMA-560 the efficiency of the proposed method is demonstrated via the obtained simulation results