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.
