Abstract—Aroboticarmhavingtwolinksisconsideredinthisreportformodelingandcontrol.Firstthedynamicmodeloftherobotisobtainedusingtheso-calledLagrangeequation,thenarobustcontrolstrategybasedontheconventionalslidingmodecontrolisintroducedtocontrolthemotionoftherobotatspecificpositionfor