Evaluation of Factors Affecting the Performance of Controller Designed for Robot Manipulators using the Theory of Variable Structure Systems

For the evaluation of factors which affect the performance of controllers designed for robot manipulators using the theory of Variable Structure Systems (VSS), control torques, reaching time, chattering and control parameters are suggested as primary indices. A new control algorithm is developed, the results are simulated and compared with the previously developed control algorithms for position control experiment on two link robot manipulator.