Motion control of robotic manipulators with disturbance decoupling

A scheme for the decoupling control of robotic manipulators, based on a dynamic model that includes both the mechanical dynamics of the links and the electrical dynamics of the joint motors, is proposed in this paper. The highly nonlinear and strongly cross-coupled electromechanical system is firstly decoupled and linearized into a set of decoupled linear subsystems. Disturbance decoupling is then conducted for disturbance and uncertainty attenuation. The resulting algorithm is so simple that both modelling difficulty and control complexity of the manipulator systems can be reduced significantly