Robust Deterministic Controller Design of a Two Degree of Freedom SCARA Manipulator

A robust deterministic control for a class of singularly perturbed uncertain systems, where uncertainties are characterized deterministically rather than stochastically, is developed based mainly on information available on an uncertain reduced-order system. The deterministic control scheme is applied to the motion control of a two degree of freedom, direct drive robotic SCARA manipulator. The manipulator has significant parasitic actuator and sensor dynamics. The parasitic dynamics are explicitly considered in the stability analysis of the deterministic controller using a singular perturbation model. Simulation studies are conducted to evaluate the effectiveness of the derived control scheme.