A nonlinear robust control scheme for robot motion control in the Cartesian coordinate is proposed. The control input of this scheme consists of a nonlinear and a linear part. The nonlinear part decouples and stabilizes the robot dynamics in the Cartesian coordinate. The linear part utilizes the robust servomechanism theory to suppress effects of modeling errors or unknown external disturbance. This scheme is used in the control of a two-joint, SCARA-type robot, and simulation results demonstrate that this nonlinear robust control scheme can achieve fast and yet precise tracking control in the Cartesian coordinate even at the presence of severe modeling errors.
ASJC Scopus subject areas
- Electrical and Electronic Engineering