A new robust robot controller

摘要

A new method is proposed for the accurate trajectory control of a general n degree of freedom robot manipulator, in the presence of large unknown parameter perturbations. In particular, joint friction and large payload mass perturbations are considered. It is demonstrated that for the particular control scheme considered, the choice of high gain feedback results in a system which gives good performance even in the presence of large unmodelled parameter uncertainties. Sufficient conditions for stability are derived using a local subsystem approach. A numerical simulation of a two degree of freedom manipulator, with a large unknown payload mass is included illustrating the new controller design.