Real time hierarchical robust control for 5 DOF ANAT redundant robot using sliding mode technique

In this paper, a hierarchical control strategy is presented for a hyper redundant articulated nimble adaptable trunk (ANAT) to track a desired trajectory in workspace. A sliding mode technique is used to develop the hierarchical robust control. The control strategy consists of controlling the last joint by assuming that the remaining joints follow their desired trajectories. Then by following the same strategy, we go backward for the (n-1)-th joint, and so on until the first joint. The inverse kinematic problem is solved by the pseudo-inverse of the Jacobean. The asymptotical stability is proved using Lyapunov theory. This algorithm was experimented on a four DOF ANAT manipulator and gave effective results and good tracking in the robot´s workspace.