Robust Task-space Control of Robot Manipulators under Imperfect Transformation of Control Space
نویسندگان
چکیده
Robust control approaches have been extensively developed to control robot manipulators in joint-space. Even though they can present perfect tracking performances in joint-space, they cannot provide satisfactory performances in workspace under imperfect transformation of control space. In addition, many task-space approaches have assumed the perfect transformation, which is not real with presence of uncertainties. This paper presents a novel task-space robust control approach with suitable tracking performance under the imperfect transformation. The importance of this paper is due to canceling the effects of imperfect transformation, which makes it superior to others. Feedbacks from both task-space and joint-space are used for this purpose. The proposed control law is derived based on the direct method of Lyapunov to guarantee stability with presence of both structured and unstructured uncertainties. The control system is equipped by a filter to remove chattering from control inputs. A two-links elbow robot is then simulated to show the performance of control system.
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