The issues of the development of a nonlinear mathematical modeland robust time-optimal control of rigid-link robotic manipulators areaddressed. Constraints, nonlinearities and uncertainties, ofmanipulators and electric motors affect the performance characteristicsof robotic systems and should be studied in detail. The nonlineardynamical model of manipulators actuated by DC motors is derived on thebasis of the Euler-Lagrange formulation. The constraints representphysical and kinematical bounds of mechanical components and electricmotors. In this paper, the robust control issues for manipulators areinvestigated using the Hamilton-Jacobi theory. For robotic systems withunknown but bounded parameters and constraints on the state variablesand control inputs we develop the robust time-optimal control strategy.A procedure for designing the robust bang-bang controllers is given andthe nonquadratic performance measure is minimized. The proposed controlmethodology is feasible, reliable and provides the computationalefficiency. The first joint of a manipulator with permanent-magnet DCmotor is studied to demonstrate the efficiency of the robust controlprocedure and the bang-bang control algorithm. Experimental results arepresented to verify the robustness and dynamic performance
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