Robust Tracking Control for Constrained Robots

Abstract

In this paper, a novel robust tracking control law is proposed for constrained robots under unknown stiffness environment. The stabilityand the robustness of the controller are proved using a Lyapunov-based approach where the relationship between the error dynamics of the robotic system and its energy is investigated. Finally, a 3DOF constrained robotic arm is used to prove the stability, the robustness and the safety of the proposed approach.