Robust embedded control for N-L robot manipulators with dynamic uncertainties

The use of a robust control strategy for continuous path control of robot manipulators to track a desired trajectory is presented. In the system, large parameter uncertainties, such as joint friction and unknown payload, are considered. Specifically, the complex nonlinear dynamic equations are linearized, and an optimal controller for solving the robust control problem is developed by minimizing a generalized cost index. Typical simulation results are presented to demonstrate the effectiveness of the robust control schemes