Conformal modelling and high order sliding mode control of 2-DOF robot manipulator

The authors use a new algorithm to compute the forward Dynamics of n degree of freedom serial kinematic chains, which is less complex to handle than the classical approaches. This algorithm was created rewriting the Lagrange equation in terms of lines and points in the framework of conformal geometric algebra, which allows us to have a new equation to compute the dynamics with less number of products. Moreover, we propose higher order sliding mode controller for robotic manipulator. The scheme is used to compensate the influence of unmodeled dynamics and to reduce chattering.