LINEAR STATE-FEEDBACK REGULATOR FOR RIGID LINK MANIPULATORS

A new generic representation of the gravity vector in the rigid link r obot dynamic model is proposed. We use this representation to design a linear state feedback regulator and show that the closed loop nonline ar system is globally asymptotically stable and exponentially stable i n any closed ball. We exploit the fact that the gravity vector is the gradient of the potential function. We also consider robustness of the linear state feedback regulator to parameter uncertainty.