This paper provides the consequences for trajectory tracking of uncertain n-DOF robotic manipulators in the presence of external disturbances and backlash. The control strategy consists of decoupling system based on inverse dynamics, sliding mode controller, and optimal controller. The tendency of robotic manipulators with gear backlash is to function in two unique phases: contact phase or backlash phase. The sliding mode controller works in the contact phase, after the decoupling of the manipulator, a adaptive second-order sliding mode controller is designed to guarantee system achieve desirable tracking precision and robust stability. The optimal controller works in the backlash phase, which makes the motor quickly traverse the backlash gap and re-contact the joints without collision. Finally, the proposal is verified in simulation using a model of a PUMA560 robot manipulator identified from real data.
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