The dynamic modeling and tracking control of the 2DOF parallel manipulator, which is sub-structure of the 6-DOF Stewart platform, are studied. The complex dynamic model of the 2-DOF manipulator, developed by using the analytic and experimental methods, is simplified to reduce the calculation time of dynamics within the sampling time limit. A sliding mode controller is adopted to the designed system which is subject to unmodeled dynamics, parameter uncertainties and external disturbances. Experiments are performed to verify the better tracking performance of the sliding mode control compared with the computed torque method.
