On Global Output Feedback Tracking Control of Planar Robot Manipulators

In this paper a simple solution to the global output feedback tracking control problem for planar robot manipulators is presented. The proposed tracking controller renders the origin of the error dynamics uniformly globally asymptotically stable. The novelty of our approach is that our control design is based on a new model for robot manipulators. This model described in the Cartesian coordinate space gives a redundant (i.e., nonreduced-order) dynamics of the system. The main stream for stabilization is that the nonredundant dynamics part of this model, for planar manipulators, is linear in the unmeasurable velocities.