An Adaptive Robust Control Method for Trajectory Tracking of a 5 DOF RLED Robot Manipulator

In this paper, combined dynamic equations of motion of a rigid-link non-redundant n-DOF robot manipulator consisting of mechanical links, all with revolute joints, and electrical actuators are considered and application of an adaptive robust control algorithm is proposed for trajectory tracking of the robot manipulator. Analysis of stability of the suggested scheme is presented in details. The simplicity of the control law and low computational load are two main advantages of the proposed method. Simulation results of applying this technique on a 5 DOF RLED robot illustrate the merits of the scheme and show that the algorithm achieves the specified tracking precision without any a priori information on disturbances or system parameters uncertainty.