Robust control of robot manipulators based on joint torque sensor information

Deals with robust control of robot manipulators in the case where joint torque sensors are available. First, the authors derive a dynamic equation of the manipulator with joint torque sensors that explicitly expresses the total nonlinear multivariable structure. This dynamic equation makes it possible to construct the control system of the manipulator with joint torque sensors using the same method as in the conventional case without the sensors. Second, based on this dynamic equation, they propose a robust trajectory control scheme which achieves the specified tracking accuracy in the presence of the modeling errors including the modeling errors of actuator systems. In the proposed method, the joint torque sensor information is fully exploited to compensate the uncertainty of link and load parameters. Furthermore, an illustrative simulation result is given to show the effectiveness of the proposed control method