Robust control of robot manipulators using dynamic compensator

Abstract

In this paper, a new robust feedback controller for trajectory control of n-link robot manipulators with parametric uncertainties is suggested. The proposed controller using dynamic compensation scheme leads to improvement in transient response while achieving asymptotic regulation in the presence of parametric uncertainties. The ultimate uniform boundedness and asymptotic regulation of the closed-loop system is proved using the Lyapunov method. The performance improvement by the proposed method is demonstrated with experiments on a 5 link SAMSUNG FARA industrial robot with two degree of freedom.