Robust controller design and implementation for industrial robots: electrically driven rigid body robots

摘要

The issue of robust controller design and implementation for rigid-link electrically-driven robot manipulators was addressed. The main features of this scheme eliminate the requirement of the joint velocity measurements and the boundedness of estimated inertia parameters of the manipulator. To illustrate the feasibility of this controller, it was implemented on a Reis V15 industrial manipulator. The effectiveness of the proposed control strategies has been confirmed by experiments.