Nonlinear Robust Control Applied to a Two Degree of Freedom SCARA Manipulator

摘要

Two classes of robot digital control schemes are proposed. The emphasis of the control design is the uncertainty. This includes friction forces and unknown payload for robot manipulator. Only the possible bound of the uncertainty is known. No statistical information of the uncertainty needs to be assumed and utilized. The first class of the control is in centralized form. That is, the state information for each link can be transmitted to the control. The second class of the control is in decentralized form. That is, the control for each link operates independently. The control is then applied to a two-link SCARA type robot as an illustrative example.