Study on path tracking control of robot manipulators with unknown payload

Abstract

The path tracking control problem of robot manipulators carrying unknown payloads is studied on the basis of the payload-dependent robot model and its structural properties. The nonlinear payload-dependent dynamic model of a robot manipulator is derived, and several structure properties of this model are investigated. On the basis of these properties, a path tracking control strategy is presented. It is shown that the presented strategy not only compensates for the effects of couplings, nonlinearities, and payload uncertainty but also guarantees tracking convergence.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>