ROBUST-CONTROL OF ROBOT ARMS INCLUDING MOTOR DYNAMICS

A state model that incorporates robot arm dynamics together with joint actuator dynamics is formulated as a nominally linear uncertain syste m. The uncertainty is matched and it is shown to be bounded by a cubic expression of the norm of the joint errors. A nonlinear robust feedba ck controller is then derived which guarantees global ultimate bounded ness of the actual system trajectories. Computer simulations are perfo rmed on a model of the PUMA 560 robot arm and the results have verifie d the feasibility of our controller with excellent trajectory tracking performance.