Design and Implementation of a Conventional Sliding Mode Controller for a Redundant Planar Parallel Robot

„ These authors contributed equally to this work. n this paper, the design and implementation of a planar parallel robot with one and two levels of redundancy, represented by 3RRR, 4RRR and 5RRR configurations , respectively, have been studied. These redundancies have been introduced to enhance the accuracy, reliability, and stability of the robot’s performance. The Conventional Sliding Mode Control (CSMC) method has been employed for controlling these robots. The results of simulations and experiments demonstrate that the CSMC method exhibits superior performance in handling dynamic uncertainties and external disturbances, resulting in reduced trajectory tracking error and improved system stability. Furthermore, this method has effectively suppressed the oscillations caused by the complex dynamics of the parallel robot, achieving more precise and faster responses.