STM Journals Peer-reviewed research from Consortium e-Learning Network

Journal of Advancements in Robotics

Tracking Control of Robotic Manipulator using PID, Computed Torque Control and Sliding Mode Control Techniques

  1. Sheilza Jain
  2. Anika Chhabra

Abstract

In the last decades, the robotic manipulators have been extensively used in the industrial applications such as paint spraying, welding, accurate positioning system etc. In these applications, joint angles of robotic manipulators are directed to follow some given trajectories as close as possible. Therefore, Inspite of long years of research, trajectory tracking problem of robotic manipulators is the most significant and fundamental task for researchers to work upon. Robotic manipulator systems are inevitably subject to structured and unstructured uncertainties which result in imprecision of dynamical models of robotic manipulators and it is difficult to obtain a suitable mathematical model for the robotic control scheme. Robotic manipulators are dynamically coupled, multi-input-multi-output, non-linear and time variant complex systems. This paper presents the dynamics of two link robotic manipulator. In this paper PID (Proportional Integral Derivative), CTC (Computed Torque Control) and SMC (Sliding Mode Controller) controllers are designed and implemented to the joint position control of two link robotic manipulator for pre-defined trajectory tracking control. Simulated results for different controllers are compared to show reduction in tracking error and performance improvement of two link robotic manipulators. The simulation work is carried out in MATLAB environment.Keywords: Robotic manipulator, tracking control, PID controller, CTC control and SMC control
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