Guaranteed stability based control of robot manipulatorsincorporating motor dynamics

摘要

In this paper a guaranteed stability based control law isdeveloped for rigid-link electrically-driven robot manipulators. Incontrast to the known methods, the presented design procedure is basedon less restrictive assumptions regarding the characteristic ofuncertainties. The authors propose that inertial parameters ofmanipulators and electrical parameters of actuators are bounded, that isevidently true for any robotic system. Exponential stability of thedeveloped controller is proved by the Lyapunov method. Simulationresults verify the proposed method