Robust feedback control of an articulated robot: A case-study

In the past year, we have introduced: (i)An inherently discrete-time dynamic robot model[1][2] which is compact and designed for trajectory planning and computer-control of robots. Our model guarantees conservation of the robot energy over each sampling period; and (ii) Robust continuous and discrete-time nonlinear feedback robot control algorithm[3][4] which are insensitive to modeling inaccuracies, unmodeled dynamics and parameter errors. In this paper, we evaluate (in digital simulation) trajectory planning and inverse dynamics applications of our discrete dynamic robot model and robust nonlinear feedback control algorithms on the three degree-of-freedom positioning system of an articulated manipulator.