... redundancy for precise trajectory tracking amidst disturbances. This method, which provides an inverse kinematics solution adaptable to various controllers, demonstrated a 29.85% reduction in peak torque and a 14.69% decrease in cumulative torques in the KUKA LBR iiwa 14 R820 robot. The authors would like...

... effectively and accurately tracks the defined lemniscate path, enabled by the joint motions and curvatures prescribed by the inverse kinematics algorithm, which were enforced by the sliding mode control actions. Thus, the manipulator system continually bends and adjusts to track the defined path accurately...