A Comparison of Dierent Control Laws in Trajectory Control for a Revolute-Jointed Manipulator

This study presents a comparison of dierent control laws for the trajectory control of a revolute-jointed manipulator. For this purpose, adaptive, robust and sliding mode control algorithms are applied to the model system so as to reduce tracking error at each joint. It is assumed that robot parameters are not known exactly and the system includes some uncertainties and disturbances. Computer simulation study of the revolute-jointed manipulators illustrates the eectiveness of dierent control algorithms in compensating disturbances and uncertainties for tracking dierent trajectories and, consequently, appropriate control parameters which reduce the tracking error have been determined