End Effector Position Control of Pantograph Type Robot Using Sliding Mode Controller

The current era of technological advancements in real time control systems where the controller mostly functions in closed-loop domain, the convergence speed of plant depends on the robustness of controller. In various sectors like in space engineering, robotics, agriculture sector, energy and mining industry, automation and advance manufacturing, a robust controller is indispensable. Sliding mode controller (SMC) has proven to be a robust controller in case of external disturbances, nonlinearities, uncertainties and unmodeled system dynamics. In this research paper, SMC has been designed to control the end effector of a two degree of freedom (2DOF) pantograph type robot (PTR) and desired tracking has been achieved. PTR consists of two identical servo motors and a chain like four links that are driven to control the end effector position. Moreover, a switching term has also been proposed and simulation shows faster convergence and improved tracking. Simulation studies have been carried out in MATLAB/Simulink.