In this research, the author presents the model of the two-link robot arm and its dynamic equations. Based on these dynamic equations, the author builds the sliding mode controller for each joint of the robot. The tasks of the controllers are controlling the Torque in each Joint of the robot in order that the angle coordinates of each link coincide with the desired values. The proposed algorithm and robot model are built on Matlab-Simulink to investigate the system quality. The results show that the quality of the control system is very high: the response angles of each link quickly reach the desired values, and the static error equal to zero.
Collaboration network of the authors
4 authors ·
4 co-authorship links
· 4 across different organisations
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Thuyloi University
Hai Phong University of Management and Technology
Chongqing University
Vietnam Maritime University
Different organisations
Same organisation
Affiliation unknown
Thicker line = more joint articles · bigger circle = more articles
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