Third order super twisting algorithm applied to a robotic arm with 3 degrees of freedom

This work presents the modeling and simulation of a robotic arm with three degrees of freedom (3 DOF), and the implementation of a robust closed-loop control law, based on the third-order super twisting algorithm (3 STA), to direct the final position of the robotic arm to a different position from the initial one within its workspace, even in the presence of perturbations and parametric uncertainties in the dynamic model. To achieve the robotic arm movement, a linear trajectory was planned with the use of the kinematic model and a fifth degree polynomial. Smooth movements are therefore generated in each joint during the execution of the trajectory.