IJCAS

In this paper, we propose as liding mode controller for a robot manipulator with passive joints. A robot manipulator with passive joint swhichare not equipped with anyactuat or sisakin do funder actuated system. Under actuated systems have some advant agescompared to fully-actuatedones. For example, the yweighless and consume less energy because they have smaller number of components than fully-actuate dones. However the control of a nunder actuated manipulator is much mored if cult than that of fully-actuated robot manipulator.In this paper acomplex dynamic model of a manipulator with passive joints is manipulated for sliding mode control. Sliding mode controllers are designed for this complex system and the stability of the controllers is proved mathematically. Finally as imulation for this control system isexecuted for evaluating the effectiveness of the designed sliding mode controller.

Keywords: sliding mode control, robot manipulator, variable structure control, passive joint,sliding surface