The first step in designing a controller for a manipulating arm is to determine its configuration, which means, analyzing the main components that make up the mechanism. A manipulating arm is composed of joints, motors, sensors and other elements, which are linked to conform the different degrees of freedom (generalized coordinates: prismatic, rotational or a combination of both, which is presented as the most unusual), which allow the calculation of the dynamic model implemented to obtain the control specifications [1]. In this paper, the calculation of a controller by sliding modes for a manipulator arm with 4 rotational degrees of freedom will be done, showing the respective results and conclusions at the end.