SLIDING MANIFOLD APPROACH TO THE CONTROL OF RIGID ROBOTS - EXPERIMENTAL RESULTS

This paper presents a set of experimental results on a Comau SMART-3 S robot manipulator. The manipulator links are required to follow a des ired trajectory, possibly also taking account of limits on the maximum allowable rate of the control torques. The control strategy considere d to solve this problem is based on the singular perturbation theory, combined with a sliding manifold approach. The resulting control law p roves to be robust against plant uncertainties and external disturbanc es, while exhibiting high accuracy in tracking prescribed trajectories . The experiments confirm the results expected by the theory. Copyrigh t (C) 1997 Elsevier Science Ltd.