Robust trajectory control of a robot manipulator

ABSTRACT The tracking problem for a robotic manipulator with uncertain dynamics is considered. The proposed control scheme utilizes manipulator ‚inverse‘ as an adaptive feedforward controller, the controller gains are updated to cow with variations in the manipulator inverse due to changes the operating point A feedback conlroller that provides arbitrary assignment of all eigenvalues and certain parts o f 3 closed-loop eigenvector structure: is also used. Eigenstructure assignment is used to enhance closed-loop stability and to achieve robust tracking. Simulation results are presented in support of the proposed control scheme. The results demonstrate satisfactory performance of the controller despite variations in payload.