Motion control of robotic manipulators with disturbance decoupling

摘要

A scheme for the decoupling control of robotic manipulators, basednon a dynamic model that includes both the mechanical dynamics of thenlinks and the electrical dynamics of the joint motors, is proposed innthis paper. The highly nonlinear and strongly cross-couplednelectromechanical system is firstly decoupled and linearized into a setnof decoupled linear subsystems. Disturbance decoupling is then conductednfor disturbance and uncertainty attenuation. The resulting algorithm isnso simple that both modelling difficulty and control complexity of thenmanipulator systems can be reduced significantly