Robust Computed Torque Method of Robot Tracking Control

Abstract

The paper offers a contribution to the robust command tracking control of the rigid robot under the condition of parametric uncertainty, in the presence of external disturbances, as well as with the limitation of both the driving torques and the state variables in the robot joint space. To get an accurate tracking of the desired trajectory of the robot arm, the idea of the computed torque control "robustification" by means of variable structure control theory has been applied. Numeric simulation compares three types of control algorithms - the equivalent time suboptimal control, the computed torque control with feedback linearization and the feedforward computed torque control - showing the reliability and the quality of the resultant robot positioning.