Robust Computed Torque Control for Uncertain Robotic Manipulatorss

This paper presents a robust control method for the trajectory of robotic manipulator. The standard Computed Torque Control (CTC) is an important in systems but its not to system uncertainty and external disturbance. proposed overcome disturbance problems. In this paper, robustification term has been added CTC. stability approved by Lyapunov theorem. performance presented controller tested MATLAB-Simulink environment compared with different methods illustrate robustness performance.