Nonlinear feedback control algorithms for manipulators utilise the complete (coupled and nonlinear) dynamic model to decouple the robot joints. In this framework, we present a comparative evaluation of the computed-torque and direct-design control algorithms, and outline the practical problems introduced by modelling inaccuracies, unmodelled dynamics and parameter errors. We then formulate the α-computed-torque nonlinear feedback control algorithm which is robust in the presence of the aforementioned error sources. Numerical experiments with cylindrical robots confirm the robustness and applicability of our α-computed-torque algorithm.
|Number of pages||10|
|Journal||IEE Proceedings D: Control Theory and Applications|
|Publication status||Published - Jan 1 1985|
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