Aiming at the requirements of large-area photovoltaic array cleaning

a robotic arm controller with real-time and preset performance is designed.Firstly

the D-H method is used to establish the spatial coordinate system and kinematic model of the robotic arm.Then

in order to meet the real-time control requirements

the analytical relationship between the joint angular velocities and the end-effector velocities is derived by combining the velocity Jacobian method.Subsequently

a novel sliding-mode controller with preset performance is designed

which takes the pose error as the input and outputs the angular velocity of each joint.Finally

its stability is proved by the Lyapunov function.The seven-segment S-curve

which is commonly used in industry

is used for trajectory planning

and the simulation verification is carried out.The results show that the designed controller meets the real-time requirements of the planned trajectory and has good tracking effect at the same time.