Abstract
This paper presents the kinematic structure and the design of a robust control strategy for a 5 Degree Of Freedom (DOF) serial robot for tele-echography. According to themanipulator kinematics, the dynamic model is formulated in the task space by using the Lagrangian formalism. Based on the system dynamics, a classical sliding mode control scheme based on the contour error is proposed to implement a performant trajectory tracking motion control. Additionally, a second order sliding mode control is applied to provide robustness in the face of uncertainties and to minimize the chattering effect caused by discontinuous control signals. The stability proof of the suggested scheme is analyzed in terms of the Lyapunov function which proves that, the system output and its second order derivative converge to the origin in a finite time. Simulation results indicate the effectiveness of the adopted controller and demonstrate satisfactory tracking performances compared to the conventional controller in the face of uncertain system parameters and external disturbances.