Abstract
This paper deals with the problems connected with the practical implementation of the control of the endpoint of a two-link planar robot with flexible forearm. The control strategy taken into consideration for imposing the torques to the two joints of the robot is based on the “sliding mode” technique. The main advantage of this choice is to obtain a control law which is robust with respect to both parameter variations and external disturbances. The sliding surfaces are defined in terms of the error between the system state variables and the variables which characterize two reference state trajectories (one for each link). The condition of attraction to the sliding surfaces are obtained by the “hierarchy of controls” principle and not by decoupling techniques. The structure of particular algorithm thus obtained appears very suited for the real time implementation by currently available DSP or microprocessor systems. The experimental results worked out by digital simulation have confirmed the satisfactory behaviour of the robot motion with the proposed class of control laws.
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