An optimal motion path planning control of a robotic manipulator based on the hybrid PI-sliding mode controller

This paper proposes a hybrid proportional-integral (PI-sliding) mode controller to improve and adjust the point-to-point path planning of three-link robotic arm with three degrees freedom. The main objectives proposed control unit are tracking process reach desired handle outgoing vibrations, dampen them in links during its movement ensure accuracy completing work. Seventh-degree polynomial paths represented segments locomotion connecting first, middle, last points at combined space through predefined route via minimal travel time. While not exceeding predetermined maximum torque, without hitting any obstacle robot's workspace. results showed that design provides robust performance fast response corresponding conventional sliding (SMC) PI controller. Then outcomes provide best for demanded mission according whished intakes error. system equations solved using techniques available MATLAB software then model validated by simulations.