An approach for control of robot manipulators

Abstract

An approach to control system design for robot manipulators based on the passivity theory is presented. The approach allows application of the passivity test to the plant manipulator and the controller individually; thus ensuring global stability of the system when the feedback loop is closed. It is shown that a manipulator can be made into a passive system and, therefore, one needs only to iterate on the low order controller during the design. The method can be extended to control design for flexible robots and for direct sampled-data system design.