Robot systems often face highly nonlinear manipulator dynamics and uncertainties such as external disturbances, payload variations, and end effector modeling errors. Therefore, it is of great industrial importance to compute and simulate the dynamic response of these manipulators in a reliable manner. This research investigates a robust control strategy—Integral Sliding Mode Control (ISMC)—applied to a three-degree-of-freedom robot manipulator with external disturbances. The study consists of two stages. The first stage uses Proportional-Derivative (PD) control with dynamically calculated weight values in the absence of the external disturbances. In the second stage, ISMC is employed to address dynamic responses to disturbances. The computation work on the model is implemented in Mathematica software, and a three-joint SCARA-type robot is tested to demonstrate methodology robustness. In the end, stability is ensured through Lypunove function analysis and the sliding surface's phase portrait.

机器人系统经常面临高度非线性的机械手动力学和不确定性，例如外部干扰、有效负载变化和末端执行器建模误差。因此，以可靠的方式计算和模拟这些机械手的动态响应具有重要的工业意义。本研究研究了一种鲁棒控制策略——积分滑模控制（ISMC）——应用于具有外部干扰的三自由度机器人操纵器。该研究由两个阶段组成。第一阶段使用比例微分（PD）控制，在没有外部干扰的情况下动态计算权重值。在第二阶段，ISMC 用于解决对干扰的动态响应。模型的计算工作在 Mathematica 软件中实现，并对三关节 SCARA 型机器人进行了测试，以证明方法的稳健性。最后通过Lypunove函数分析和滑动面相图保证稳定性。