Maintaining precise and robust control in robotic systems, particularly those with nonlinear dynamics and external disturbances, is a significant challenge in robotics. Sliding-mode control (SMC) is a widely used technique to tackle these issues; however, it is plagued by chattering and computational complexity, which limit its effectiveness in high-precision environments. This study aims to develop and assess a quantum-inspired sliding-mode control (QSMC) strategy to enhance the SMC’s robustness, precision, and computational efficiency, specifically in controlling a six-jointed articulated robotic arm. The methodology involves creating a comprehensive kinematic and dynamic model of the robot, followed by implementing both classic SMC and the proposed Q-SMC in a comparative way. The simulation results confirm that the Q-SMC method outperforms the classic SMC, particularly in reducing chattering, improving tracking accuracy, and decreasing energy consumption by approximately 3.79%. These findings suggest that the Q-SMC technique provides a promising alternative to classical control methods, with potential applications in tasks requiring high precision and efficient robotic manipulations.

Accurate parameter identification in dynamic models of robotic arms is essential for performing high-performance control and energy-efficient procedures. However, classic methods often encounter difficulties when modeling nonlinear, high-dimensional systems, particularly in the presence of real-world uncertainties. To address these challenges, this study focuses on identifying mass center positions and inertia matrix elements in a six-jointed industrial robotic arm and comparing the influence of optimized algorithms: the classical Particle Swarm Optimization (PSO) and the Quantum-behaved Particle Swarm Optimization (QPSO). The robot’s kinematic model was validated by comparing it with actual motion data, utilizing a high-precision neural network to ensure accuracy before conducting a dynamic analysis. A comprehensive dynamic model was created using Computer-Aided Optimization (CAO) in SolidWorks Premium 2023 to simulate realistic mass parameters, thereby validating the model’s reliability in a practical setting. The real (Referenced) and optimized dynamic models of the robot arm were validated using trajectory tracking simulations under sliding mode control (SMC) to assess the impact of the optimized model on the robot’s performance metrics. Results indicate that QPSO estimates inertia and mass center parameters with Mean Absolute Percentage Errors (MAPE) of 0.76% and 0.43%, outperforming PSO significantly and delivering smoother torque profiles and greater resilience to external disturbances.

Accurate prediction of a robot’s dynamic parameters, including mass and moment of inertia, is essential for adequate motion planning and control in autonomous systems. Traditional methods often depend on manual computation or physics-based modelling, which can be time-consuming and approximate for intricate, real-world environments. Recent advances in machine learning, primarily through artificial neural networks (ANNs), offer profitable alternatives. However, the potential of quantum-inspired models in this context remains largely uncharted. The current research assesses the predictive performance of a classical artificial neural network (CANN) and a quantum-inspired artificial neural network (QANN) in estimating a car-like mobile robot’s mass and moment of inertia. The predictive accurateness of the models was considered by minimizing a cost function, which was characterized as the RMSE between the predicted and actual values. The outcomes indicate that while both models demonstrated commendable performance, QANN consistently surpassed CANN. On average, QANN achieved a 9.7% reduction in training RMSE, decreasing from 0.0031 to 0.0028, and an 84.4% reduction in validation RMSE, dropping from 0.125 to 0.0195 compared to CANN. These enhancements highlight QANN’s singular predictive accuracy and greater capacity for generalization to unseen data. In contrast, CANN displayed overfitting tendencies, especially during the training phase. These findings emphasize the significance of quantum-inspired neural networks in enhancing prediction precision for involved regression tasks. The QANN framework has the potential for wider applications in robotics, including autonomous vehicles, uncrewed aerial vehicles, and intelligent automation systems, where accurate dynamic modelling is necessary.