Nonlinear robust control of robot manipulators

The authors propose a nonlinear robust hybrid control scheme for robot motion control. The control input consists of a nonlinear and a linear part. The nonlinear input decouples a robot dynamics and obtains a set of position and force equations in the hand or Cartesian coordinate. The linear part applies the robust servomechanism theory to suppress position or force tracking error due to uncertainties. This nonlinear robust hybrid control scheme is applied to a two-joint SCARA-type robot, and simulation results demonstrated excellent robustness properties and satisfactory hybrid control, even under severe modeling errors