摘要：Because of its ease of implementation,a linear PID controller is generally used to control robotic *** controllers cannot effectively cope with uncertainties and variations in the parameters;therefore,nonlinear controllers with robust performance which can cope with these are *** sliding mode control(SMC)is a robust state feedback control method for nonlinear systems that,in addition having a simple design,efficiently overcomes uncertainties and disturbances in the *** also has a very fast transient response that is desirable when controlling robotic *** most critical drawback to SMC is chattering in the control input *** solve this problem,in this study,SMC is used with a boundary layer(SMCBL)to eliminate the chattering and improve the performance of the *** proposed SMCBL was compared with inverse dynamic control(IDC),a conventional nonlinear control *** kinematic and dynamic equations of the IRB-120 robot manipulator were initially extracted completely and accurately,and then the control of the robot manipulator using SMC was *** validation,the proposed control method was implemented on a 6-DOF IRB-120 robot manipulator in the presence of *** results were simulated,tested,and compared in the MATLAB/Simulink *** further validate our work,the results were tested and confirmed experimentally on an actual IRB-120 robot manipulator.