Sliding mode controller for robust trajectory tracking using haptic robot

Haptics refers to sensing and manipulation through touch. Haptic devices are also used for trajectory setting. The most important feature of these devices is the possibility of feeling force feedback by an operator. This paper addresses the main problem of teleoperation system, which is how to achieve accurate position tracking control using the haptic device. A sliding mode controller is developed for trajectory tracking and simulation results demonstrate the excellent tracking performance of the system.