A Reaction Force Estimation method of End Effector of Two-link Manipulator Using SMCSPO

A reaction force estimation method based on Sliding Mode Control Sliding with Perturbation Observer for the end effector of two-link manipulator is proposed in this research paper. A two-link manipulator is simulated using Matlab/Simulink from the generation of a mechanical model by SimMechancis Toolbox. In this paper Sliding mode control with sliding perturbation observer (SMCSPO) is used to control the manipulator and observe the amount of estimated perturbation. Actual perturbation include the uncertainty and disturbance. In this paper disturbance is consider as reaction force of manipulator. Reaction force for the end effector of two-link manipulator is extracted from the difference of estimated perturbation and actual perturbation. The simulation results showed that the proposed method is used to find the reaction force for the end effector just with encode sensor.