Contribution to synthesis of manipulator control

摘要

AbstractThe article addresses the control problem associated with tracking a trajectory which is predefined by the desired position and orientation of the end‐effector tip (stage of nominal control). The problem is compounded by the assumption that variations in system parameters may occur thereby requiring that the nominal control be complemented with a controller (stage of perturbed control) which would regulate the disturbance produced by the variation in system parameters. A new formulation of the robot model for control synthesis is presented. The new formulation facilitates the synthesis of regulators for parameter variations using a robust servomechanism approach or a force feedback approach. The two approaches are illustrated using examples. The first example uses robust regulation to reject step input disturbances. The second example simulates the operation of peg‐in‐hole insertion using force feedback with an LQ contr