Abstract
This papar is concerned with a robust control for robot manipulators in the case where joint torque sensors are available. First, we derive a dynamic model of the robot manipulator with joint torque sensors, in which the total nonlinear multivariable structure is explicitly described. This model gives a good indication that we can construct the control systems of robot manipulators with joint torque sensors using the same method as in the conventional case without the sensors. Second, based on this model, we propose a robust trajectory tracking control scheme which achieves the specified tracking accuracy in the presence of the modeling error including motor system, where joint torque sensor information is fully exploited to compensate the uncertainty of link and load parameters. Furthermore, an illustrative simulation result is given to show the effectiveness of the proposed control method.
