Sliding mode control applied to a parallel scara robot

The parallel Scara robot is one of the most basic structures of parallel robotics; it is a planar parallel robot with two degrees of freedom corresponding to the translation of the final effector in a plane. This article develops a position controller by SMC (Sliding Mode Control) for a parallel Scara; through a simulation developed in Unity 3D, the robot's performance results are obtained when working in an industrial environment filling boxes with spheres.