Integral backstepping based computed torque control for a 6 DOF arm robot

Abstract

The focus of this survey is the modeling and control of a 6 DOF arm robot. Based on Lagrangian dynamics, a 6 DOF(degree of freedom) arm robot model is built. The computed torque control (CTC) is applied to the position tracking control and a planned trajectory is given. Furthermore, to improve the tracking speed and achieve the velocity tracking, a nonlinear integral backstepping (NIB) technique is combined with CTC. The final control scheme is proposed, in the name of CTC-NIB. Simulation results show the effectiveness of the proposed control method. Compared with traditional CTC, the CTC-NIB absolutely improve the tracking performance.