ROBUST VOLTAGE CONTROL OF ELECTRICAL MANIPULATORS IN TASK-SPACE

This paper presents novel robust voltage-based tracking control approaches for electrically driven robot manipulators in. the Task-Space (TS). The proposed control laws air simple, fast response and robust with ignorable tracking errors. They are superior to torque-based control approaches due to be fire of manipulator dynamics. In, addition, the TS control is preferred to Joint-Space (JS) control under imperfect transformation faun TS to JS. Moreover, the feedback linearization technique is applied on the electrical model of motors instead of the mechanical model of manipulator to cancel the nonlinear dynamics of manipulator. These advantages are due to a particular attention. to the role of motor control in manipulator control, which is a novelty of this paper as compared with existing works. The performance of the control system is then Unpinned by using a disturbance observer to overcome uncertainties. A robust PI controller is then proposed and a fuzzy controller is designed based on the proposed PT controller. he stability of control system is analyzed and the performances of control laws am compared by simulations.