APPLICATION AND COMPARISON OF PASSIVITY-BASED AND INTEGRATOR BACKSTEPPING CONTROL METHODS FOR TRAJECTORY TRACKING OF RIGID-LINK ROBOT MANIPULATORS INCORPORATING MOTOR DYNAMICS

摘要

In this paper, dynamic equations of motion of a rigid-link non-redundant n-DOF robot manipulator consisting of mechanical arms, all with revolute joints and electrical actuators are considered and application of passivity-based and integrator backstepping techniques for trajectory tracking of the robot in presence of disturbance, friction and uncertainty is studied.