Feedback-based IKP solution with SMC for robotic manipulators: the SCARA example

Abstract

This paper presents a novel scheme for solving inverse kinematics problem (IKP) of a multi-link robotic manipulator. Important features of the proposed strategy are generality and simplicity regardless of the number of degrees of freedom (DOF) and geometry of the robot. The proposed method is a feedback strategy where the IKP solution is expressed as a dynamic control system whose goal is to maintain satisfactory trajectory tracking. As a simulation test to reveal the performance of proposed scheme, a four DOF Selective Compliance Assembly Robot Arm (SCARA) system is considered. Feedback law in proposed closed-loop solution method is selected as a combination of Sliding Mode Control (SMC) and Proportional-Derivative (PD) control for providing simplicity and robustness. Simulation results are used to show the efficacy of proposed IKP solution approach in comparison with commonly used neural networks (NN) based IKP solution method. Results reveal that proposed method yields the solution of IKP with satisfactory performance.