Path Control for a Manipulator while Tracking a Given Trajectory

Abstract

The paper propose to use robust control algorithm with disturbance compensation for management anthropomorphic robot PUMA type so as to ensure the movement of the robot manipulator along a predetermined path with a given accuracy. Necessary to generate a control signal for each degree of mobility without the use of velocities and accelerations of its relative coordinates measured output variables or other degrees of freedom. Thus, decentralized control is implemented to overcome the handling robot. For the formation of the control actions using the auxiliary circuit. This approach allows compensating for structural and parametric perturbations of the control object.