Designing of a class of nonlinear robotic manipulators: contributions to control and stability

This paper covers several important topics in control of robotic systems and presents analysis of stability via the Lyapunov concept. Analysis and control issues are considered using the nonlinear model. The rigid-link manipulator with the proportional-integral-differential (PID) controller is asymptotically stable and tracks the desired trajectories. The relationship between control issues and Lyapunov´s stability analysis for robots is treated. The essence of the second method is contained in the demonstration of asymptotic stability for nonlinear robots with PID algorithms. Analytical, numerical and experimental studies are performed to design and implement the PID controller as well as to analyze, monitor and demonstrate the dynamic performance of a two-link planar robot. Experimental results illustrate that the procedure is feasible and can be used in systems design