Robust control in robotic manipulators with DC-motors

The main problem in the robust control of robotic manipulator arms is the difficult interpretation of the constants and functions that appear in the general expressions based on the size of the uncertainties. This paper presents a new alternative evaluation of these constants and functions. It considers the general formulation when the dynamic parameters of the model are unknown and some bounds must be imposed to develop the robust control action. The results are then applied to a 2-DOF planar robot, and a simulation example is presented