Adaptive Task Space Non-Singular Terminal Super-Twisting Sliding Mode Control of a 7-DOF Robotic Manipulator

--This paper presents a new task-space Non-singular Terminal Super-Twisting Sliding Mode (NT -STSM) controller with adaptive gains for robust trajectory tracking of a 7-DOF robotic manipulator. The proposed approach addresses the challenges of chattering, unknown disturbances, and rotational motion tracking, making it suited for high-DOF manipulators in dexterous manipulation tasks. A rigorous boundedness proof is provided, offering gain selection guidelines for practical implementation. Simulations and hardware experiments with external disturbances demonstrate the proposed controller's robust, accurate tracking with reduced control effort under unknown disturbances compared to other NT -STSM and conventional controllers. The results demonstrated that the proposed NT -STSM controller mitigates chattering and instability in complex motions, making it a viable solution for dexterous robotic manipulations and various industrial applications. HE development of robust control algorithms is necessary for industrial robotic manipulators in applications such as remote surgery, cooperative multi-robot manipulation, and handling varying payloads. These applications require precise trajectory tracking, robustness to disturbances, and energy-efficient control strategies. High degree-of-freedom (DOF) manipulators offer an extensive range of motion, however, their complex nonlinear dynamics, with model uncertainties and external disturbances, pose significant control challenges.