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Robotic manipulators are employed in various applications like pick and place, painting and welding etc. In these applications it is required to track a predefined trajectory. For the same an efficient controller is required as the manipulator is a nonlinear complex and coupled system. Due to nonlinearities and coupling effect, the design of an ideal controller has been a challenging task. This paper...
Robotic manipulator is a multi-input multi-output (MIMO), highly nonlinear and coupled system. Controlling this system always has been a challenging task for control engineers. In this paper, sliding mode control (SMC) technique utilizing Proportional and Derivative (PD) surface with different reaching laws has been applied on a two-link planar rigid robotic manipulator. Performance of PD sliding...
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