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Robust approximate constraint‐following control design for typical manipulator systems

In this paper, the constraint equation is written into the second‐order form, and the additional generalized constraint binding force is added to the unconstrained system from the constraint equation to obtain the dynamic equation. Based on the dynamic equation, we model performance requirements as servo constraints by using the robust approximate constraint‐following servo control. In other words, the constraints are generated from the servo control which makes the system follow the constraints approximately. Finally, for verifying the effectiveness of the controller, we apply it into a two‐degree‐of‐freedom manipulator system.