Track Tracking of Double Joint Robot Based on Sliding Mode Control

Abstract

Robots play an important role in industry and service industry. The research contents of robotics include robot system design, mathematical modeling, actuator and robot force / position control. One index of robot system performance is trajectory tracking ability. In this paper, a two joint robot model is created, and a sliding mode controller is designed to track each joint. The sliding mode control based on the stability of input and output is derived, and the trajectory tracking sliding mode controller is designed by combining the mathematical model and dynamic characteristics of the robot system. Finally, the effectiveness of the sliding mode controller to the trajectory tracking control is verified by the simulation experiment, which can reduce the external interference to the system.