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ROBUST NONLINEAR CONTROL OF ROBOT MANIPULATOR WITH UNCERTAINTIES IN KINEMATICS , DYNAMICS AND ACTUATOR MODELS

This paper, according to practical method in robot manipulator control, introduces a novel robust control approach for trajectory tracking of electrically-driven robotic manipulators in task space. A new task space control scheme is proposed to overcome uncertainties of actuator dynamics, robot dynamics and kinematics. A robust controller is designed based on Lyapunov method, using dynamic delay, backstepping method and unknown bounds of uncertainties. It is proven that the closed loop system has global uniform ultimate boundedness stability. Although, for overcoming the uncertainties in actuator dynamics, robot dynamics and kinematics is a major advantage, the proposed control cannot pass the singular points in task space and there will be malfunctions when it is applied on the practical implementation. Modifications are used to derive a control law which is free of velocity terms and can pass the singular points into task space. The control approach is applied on a two-link elbow robotic manipulator which is driven by permanent magnet dc motors and can be applied on up to n-links robotic manipulators, too. The performance of proposed control laws is confirmed by simulations.