Tracking Control of Robot Manipulators Using a Robust Deterministic Control Law

Abstract

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