Nonlinear robust hybrid control of robotic manipulators

Chen-Yuan Kuo, Shay Ping T Wang

Research output: Contribution to journalArticle

13 Scopus citations


The success of a robot force and position (hybrid) control scheme relies extensively upon its robustness against uncertainties such as unknown external disturbance or modeling errors in the description of robot, sensor and environment. In this paper we propose a new nonlinear robust hybrid control scheme for robot motion control. The control input consists of a nonlinear and a linear part. The nonlinear input decouples a robot dynamics and gives a set of position and force equations in the hand or cartesian coordinates. The linear part applies the servomechanism theory to suppress position or force tracking error due to uncertainties. This nonlinear robust hybrid control scheme is applied to a two-joint SCARA type robot, and simulation results demonstrate excellent robustness properties and satisfactory hybrid control under severe modeling errors.

Original languageEnglish (US)
Pages (from-to)48-54
Number of pages7
JournalJournal of Dynamic Systems, Measurement and Control, Transactions of the ASME
Issue number1
StatePublished - Mar 1990


ASJC Scopus subject areas

  • Control and Systems Engineering
  • Information Systems
  • Instrumentation
  • Mechanical Engineering
  • Computer Science Applications

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