Abstract
In this paper, trajectory control problem of the robot manipulator is considered. First, we briefly introduce robust stabilizing robust servo compensator design for linear uncertain systems, which is called IMPACT. Then we apply IMPACT to the problem in concern. It will be shown that the resulting system is internally stable and the tracking error will converge to zero, as is a natural consequence of the internal model principle. The compensator design is finally reduced to the so-called Nevanlinna-Pick's interpolation problem. The proposed method is highly robust to the parametric inaccuraries and the lack of structural information.
