Eigenstructure assignment technique for manipulator control

A control scheme based on a procedure suggested by M. Vukobratovic and N. Kircarski (1983) is used to design the control algorithm for a two-link robot arm. Simulation results show that eigenstructure assignment with feedforward torques can produce acceptable performance for such an arm. The disadvantages of the design technique are that there is as yet no systematic means of improving the performance of the controller by manipulating feedback gain components and there is no guarantee of global stability due to the fact that time-varying dynamics were assumed time-invariant for short intervals of time. However, no instability problem was noted during the simulation runs. The advantages of the technique are that the implementation of the controller is straightforward and the same methodology could be readily applied to higher-order manipulator systems