Non-adaptive nonlinear controller using modified generalized velocity components for manipulators

In this paper the problem of the trajectory tracking for manipulators is addressed. A proposed non-adaptive nonlinear controller uses the modified generalized velocity components (MGVC) arising from the manipulator mass decomposition. The control scheme is based on equations of motion with the identity mass matrix. It is shown that the controller is globally exponentially stable. Theoretical considerations are illustrated by simulation on a 3 DOF spatial manipulator. The presented approach can be also an useful tool for manipulator design because the use of the MGVC (which contain both dynamic and kinematic parameters of the system) gives an further insight into the manipulator dynamics.