A dual-mode control for robotic manipulators

Starting from the feedback linearization scheme using generalized force feedback, the linear design method based on quadratic performance index and control bounds[12] is utilized to obtain a dual-mode controller: it is a singular control near the equilibrium state and bang-bang elsewhere. Simulation results of both terminal control in the joint angle space and trajectory tracking in the task space show that good performance can be obtained without violating the actuator constraints, and that this scheme is especially suitable for terminal controls.