Robotic manipulators are nonlinear systems that are extensively used in industrial applications to perform many complex and specialized tasks which requires high precision and accurate trajectory tracking. This paper proposes the real-time implementation of a Robust Discontinuous Controller Algorithm to achieve trajectory tracking for a 5 degrees of freedom (DOF) robotic manipulator in a fast and accurate form with low chattering on the joint motors even under uncertainty and disturbance conditions. The trajectory design is developed by a fifth-order polynomial which ensures that robotic manipulator reaches the final desired position in a smooth way and enables to specify the endpoint positions, speeds and accelerations for each joint. A Lyapunov analysis is performed to guarantee system stability with the proposed controller algorithm. To verify the effectiveness of the proposed controller algorithm some simulations in Simulink\({}^{{\circledR }}\) environment are presented in comparison with a PD controller which is widely used for control of industrial robotic manipulators. Real time experimental results in a robotic manipulator CRS Catalyst-5 by Thermo Electron ^®; are presented to support the simulation results and prove the effectiveness of the proposed controller.

机器人机械手是非线性系统，已广泛用于工业应用中，以执行许多复杂且专门的任务，这些任务需要高精度和精确的轨迹跟踪。本文提出了一种鲁棒间断控制器算法的实时实现，即使在不确定性和扰动条件下，也能以快速，准确的形式实现对5自由度（DOF）机器人操纵器的轨迹跟踪，并且在关节电动机上的抖动很小。轨迹设计是由五阶多项式开发的，该多项式可确保机器人操纵器以平滑的方式到达最终的所需位置，并能够指定每个关节的端点位置，速度和加速度。使用提出的控制器算法进行Lyapunov分析以保证系统稳定性。与广泛用于工业机器人操纵器控制的PD控制器相比，展示了\（{} ^ {{\\ circledR}} \）环境。Thermo Electron®在机器人机械手CRS Catalyst-5中的实时实验结果^；提出来支持仿真结果并证明所提出控制器的有效性。