Control system of robot manipulator using linear time-varying controller design technique

摘要

This paper concerns with the control system of the robot manipulator in wide range of variables. For such a problem, the gain scheduling or robust control strategy based on several linear time-invariant approximate model or nonlinear control strategy are the most commonly used. In this paper, we apply a linear time varying controller based on the linear time-varying approximate model around some desired manipulator trajectory, to the robot manipulator.