A NEW CLASS OF ROBUST CONTROL STRATEGIES FOR TRAJECTORY TRACKING OF ROBOT MANIPULATORS

摘要

This paper proposes a new class of control strategies based on the so called computed torque structure,which are used for trajectory tracking of robot manipulators with parametric uncertainties. Exact knowledge of robot dynamics is not needed except that a lumped system uncertain parameter must be known.It is shown by theories and simulations that the effects of large system uncertainties can be eliminated and three kinks of stability results (i.e.global uniform ultimate boundedness stability,global asymptotic stability and global exponential stability) can be guaranteed based on the designer's choice. In addition, when the lumped system uncertain parameter is unknown, an on line estimate of this parameter has been derived such that the global convergence can be guaranteed.