Tracking control of robot manipulators using a robust deterministic control law

There have been theoretical developments on the control of dynamic systems based on deterministically uncertain and singularly perturbed models in rec ent years. In this paper, a robust deterministic control scheme proposed or iginally by M. Corless et al. is modified, and is applied to the tracking c ontrol of robot manipulators. Simulation and experimental studies for a two degree of freedom, direct drive SCARA manipulator are conducted to evaluat e the effectiveness of the control scheme.