Due to its ability to reject disturbance, sliding mode control (SMC) has been widely
employed in various control applications with the presence of uncertainty and/or …

This research is presented to control a PUMA 560 robot which is well-known industrial robot
with six degrees of freedom. It is a RRRRRR robot type which can do various tasks such as …

Manipulators used in the industrial field usually have a very stiff structure but without an
equivalent payload on their end-effectors. This is because the stiff structure is used to …

In this paper, a novel strategy using embedding process and sliding surface is proposed. In
this method, a state trajectory starting from a given initial point reaches a definite point on a …

Compliance control is essential for tasks involving interaction of the robot with the
environment with contact forces eg sliding on an inclined plane, drawing on a rigid surface …

There is presented a comparison of sliding mode control and decoupled sliding mode
control algorithms for the PUMA 560 robot position control. The Lagrange-Euler …

A new sliding mode control (SMC) design approach using measure theory and Lyapunov
functional candidate is presented for nonlinear control problems with disturbances …

In this paper, a sliding mode control (SMC) design approach using embedding process,
measure theory and optimal control techniques is proposed. In this method, a state trajectory …

This paper considers the control of an articulated robotic manipulator, classified in the
literature as anthropomorphic (RRR), which is formed by three rotary joints, three degrees of …

Maneuverability is the measure of the dynamic performance of a manipulator in a specific
posture or configuration, and acceleration radius is one of the most utilized indices of it …