Motion Control of Robotic Arm Manipulator Using PID and Sliding Mode Technique

Abstract

In the last decades, many researches have proposed concerning the motion control and position regulation for manipulators. Motion control has important applications in many areas, for example industrial robotics, autonomous systems, and virtual prototyping, etc. In this work, an exhaustive research of the existing literature related to the thesis has been carried out, which has served to create a comprehensive database used to perform a detailed historical review of developments since its starts to the current state of the art and the latest trends. In this thesis two control methodologies for the position control of robotic arm manipulator are used, i.e. PID and Sliding Mode control. Both techniques have good performance but, the Sliding mode control being insensitive to parametric variations, disturbance rejection and good performance against uncertainties has much better results than PID control. The simulation results are also presented which shows SMC has better performance as compared to PID control technique.