Robust Control for a Scara Robot with Parametric Uncertainty
نویسندگان
چکیده
This paper presents a robust control law for controlling robot manipulators with parameter uncertainty, applied to a 4-DOF robot. The design of the controller is based on the Lyapunov function and the control law that is designed to compensate the uncertainties arising from unknown robot parameters and unknown payload. Major simulations results using numerical values of an industrial SCARA robot prove the effectiveness of the proposed approach. The robust control and the widely used computed torque control are compared. Tracking performance in the task space is enlightened. Copyright © 2006 USTARTH
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