This paper presents an improved robust tracking control for uncertain robot manipulators. An approximate fast terminal sliding mode control is proposed by integrating a nonsingular fast terminal sliding surface with an exponential reaching law. Lyapunov stability theory is employed to prove the global approximate finite-time stability ensuring that the tracking errors converge to an arbitrary small ball centered at zero within a finite time and thereafter arrive at zero asymptotically. The benefits of this integrated design are that it can ensure faster transient and higher steady-state tracking precision with lower chattering. Simulations and experiments are presented to demonstrate the effectiveness and improved performances of the proposed approach.
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