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This paper introduces a combined Sliding Mode Control (SMC) and Impedance Control strategy for a 3-degree-of-freedom (3DOF) robotic arm, aimed at enhancing robust and compliant motion in dynamic environments. The proposed controller outperforms a traditional PID-Impedance controller in terms of robustness and tracking accuracy, especially under uncertainties and external disturbances, though it demands higher computational resources. The study emphasizes the potential of SMC-Impedance control for applicatio
- Author
- Không Tên
- Language
- EN