Implementation of a new sliding mode control for SCARA robot

This paper addresses the implementation of a new sliding mode control algorithm for a high speed/precision controller which is robust against the variation of robot parameters and load. The nonlinear dynamics become prominent in high speed operation but can hardly be modeled accurately. Therefore, we consider the nonlinear inertia, Coriolis and centrifugal force terms as external disturbances. This approach is applied to sliding mode control to obtain switching control inputs. The control input obtained satisfy the existence condition of sliding mode. A dynamic simulator has been developed and used to evaluate the proposed algorithm for SCARA robots. Simulated results show that the proposed algorithm is robust against disturbances and reduces the amount of chattering. An experiment was performed to demonstrate the simulated results in a real system.