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Open AccessArticle

An Adaptive Second Order Sliding Mode Inverse Kinematics Approach for Serial Kinematic Chain Robot Manipulators

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Department of Computers and Control Engineering, Tanta University, Tanta 31527, Egypt
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Computer Engineering Department, Prince Sattam Bin Abdelaziz University, Al-Kharj 16278, Saudi Arabia
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Digital Research Center of Sfax & CEM Lab-ENIS, University of Sfax, Sfax 13456, Tunisia
*
Author to whom correspondence should be addressed.
Robotics 2020, 9(1), 4; https://doi.org/10.3390/robotics9010004
Received: 22 November 2019 / Revised: 28 December 2019 / Accepted: 31 December 2019 / Published: 3 January 2020
(This article belongs to the Section Industrial Robots)
The problem of inverse kinematics is essential to consider while dealing with the robot’s mechanical structure in almost all applications. Since the solution of the inverse kinematics problem is very complex, many research efforts have been working towards getting the approximate solution of this problem. However, for some applications, working with the approximate robot’s model is neither sufficient nor efficient. In this paper, an adaptive inverse kinematics methodology is developed to solve the inverse kinematics problem in such a way that compensate for unknown uncertainty in the Jacobian matrix of the serial kinematic chain robot manipulators. The proposed methodology is based on continuous second order sliding mode strategy (CSOSM-AIK). The salient advantage of the CSOSM-AIK approach is that it does not require the availability of the kinematics model or Jacobian matrix of the robot manipulators from joint space variables to Cartesian space variables. The global stability of the closed-loop system with CSOSM-AIK methodology is proven using the Lyapunov theorem. In order to demonstrate the robustness and effectiveness of the proposed methodology, some simulations are conducted.
Keywords: adaptive inverse kinematics; robot manipulator; jacobian matrix; continuous sliding mode adaptive inverse kinematics; robot manipulator; jacobian matrix; continuous sliding mode
MDPI and ACS Style

Elawady, W.M.; Bouteraa, Y.; Elmogy, A. An Adaptive Second Order Sliding Mode Inverse Kinematics Approach for Serial Kinematic Chain Robot Manipulators. Robotics 2020, 9, 4.

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