ROBUST CONTROL OF ROBOT MANIPULATORS USING DYNAMIC COMPENSATORS UNDER PARAMETRIC UNCERTAINTY

摘要

In this paper, a new robust feedback controller for trajectory control of n-link robot manipulators under parametric uncertainties is suggested. The proposed controller using dynamic compensation scheme leads to improvement in the transient response and fast convergence of tracking error to a neighborhood of zero in the steady-state. The uniformly ultimate boundedness of the closed-loop system is proved by using the Lyapunov method. The performance improvement by the proposed method is demonstrated with experiments on a 5 link industrial robot with two degrees of freedom.