New hybrid control of a 2 DoF Robot Arm

Abstract

Robot arms have been using in different systems, which the control of designed in desired trajectory is the main task. Also, it is anticipated that while in operation the developed 2DoF robot arm will be constantly encountered with noises such as friction forces. A new integral sliding mode control (NISMC) is therefore being introduced to suppress noise due to its robustness. Then, New hybrid control system (NHISMC) is proposed, which constantly calculates an error value and applies a correction value to the system. This will enhance trajectory and minimize tracking error. In comparison with two other controllers, such as traditional sliding mode control (SMC) and NISMC, experimental results confirmed the efficacy of the proposed control method.