A two degrees of freedom control design for robot manipulator using internal model structure

Abstract

A two degrees of freedom control structure is proposed for trajectory tracking of a robot manipulator. Based on the internal model control concept, a disturbance controller is designed to decouple dynamic interactions among joints. Since joint dynamics are linearized and decoupled, design of the tracking controller is greatly simplified. To account for practical limitations, a sliding mode control technique is adopted to enhance robustness. A computer simulation study of a two-link manipulator produced satisfactory results.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>