スライディングモード制御によるロボットアームの軌道制御と実験結果

抄録

In this report, we propose a new trajectory control law of robot arm using sliding mode control and show several experimental results and related problems. Many researchers have proposed several sliding mode algorisms for the trajectory control of robot arm. however, there is no explicit algorism which need no inverse inertia matrix calculation. Furthermore, there are few reports treating the experimental results.
Therefore this report should be useful to the engineers studying this fields.