Tracking Control Strategy Research on Uncertain Robot Manipulators

The control system quality deterioration by parametric inaccuracy and unconsidered disturbance for dynamic-modelling on uncertain rigid-link robots, a design method of tracking control for rigid-link robots is proposed.Its controller includes the computed-torque controller based on nominal model and a robust compensator based on uncertain parameters.Its structure is simple,the computed-torque controller make the system track the designed trajectory, and the robust compensator cancels parameter error.The effectivness of such control method is shown by theory and simulation.