The Robust Application of Computed Torque Control to Manipulators Subject to Saturation

The paper describes a new technique which allows to use an Exact Linearization (EL) Control for Robot Manipulators in the cases when actuator sturation cannot be ignored. A modification of a Nonlinear Dynamic Compensation technique, that has been successfully used in the feedback amplifiers, is applied to a case of a nonredundant manipulator. Computer simulation for a two-link planar robot arm illusrates the advantages of the Modified Computed Torque Technique compared to the traditional linear full state control.