On the robust control of robot manipulators including actuator dynamics

A simple robust nonlinear control law that incorporates the manipulator dynamics as well as dynamics of actuators is developed in this paper. The inertial parameters of the manipulator and the electrical parameters of the actuators are considered to be of uncertain values. In contrast to the known methods, the presented design procedure is based on less restrictive assumptions regarding to the characteristic of uncertainties. We just propose that unknown parameters are bounded, that is evidently true for any robotic system. Exponential stability of the developed controller is proved by the Lyapunov method