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On the Position and Stationary Motion Stabilization Problems of a Two-Link Robot Manipulator

To date, various mathematical methods have been developed to design the manipulator control structure. Many methods involve measuring all, or at least part of the velocities. In a number of works, some controllers have been proposed that require the measurements not of velocities but only coordinates. In this case, filters are used that require the real-time calculations. Recently, some papers have been published that make it possible to solve the stationary motion stabilization problem of manipulators by measuring only coordinates without using filters, by using non-linear PI controllers. This paper presents the results of applying this approach to the problem of constructing the nonlinear PI controllers of a two-link manipulator.