A 2-LEVEL CONTROL STRATEGY FOR ROBOT MANIPULATORS

This paper deals with the hierarchical control of a class of robot man ipulators. A two-level hierarchical control concept for robot manipula tors is proposed. The controller is formulated based on a deterministi c approach. In synthesizing the controller, it is assumed that the upp er bounds on the nonlinearities, couplings and uncertainties present i n the system are available. It is shown through computer simulations t hat the proposed control strategy is capable of withstanding the expec ted variations and uncertainties in the system, and will render the ro bot manipulator able to track a prescribed trajectory to within a smal l ultimate boundedness set.