A robust model-based controller for robot manipulators

Abstract

An additional model-based parallel-compensator is attached to the conventional model-based computed torque controller, which is in the form of a serial compensator, to enhance the robustness of robot manipulator control. The novel scheme is simple and numerical studies verify that it is much more robust than existing methods.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>