ADAPTIVE FUZZY SLIDING MODE CONTROL FOR THREE DEGREES OF FREEDOM ROBOT RPP

Abstract

An RPP-3 degree of freedom (RPP-3DOF) robot is widely applied in many
industrial fields such as painting and welding, etc. Controlling industrial robots
to follow the desired trajectory is a challenging task today. This paper presents
an adaptive fuzzy sliding control method that considers disturbances in
controlling the trajectory of RPP-3DOF robots. The simulation results show that
the proposed controller provides good control quality with accurate trajectory
tracking in many different scenarios.