A decentralised variable structure model following controller for robot manipulators

Abstract

An algorithm for the trajectory control of robot manipulators be decentralized feedback is proposed. A decentralized model following controller is used that bypasses the complexities posed by the nonlinear, uncertain dynamics of manipulator, dealing instead with the simpler actuator dynamics and treating the joint torques as disturbances. The controller is simple computationally easy, and robust to parametric uncertainties and payload variations.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>