An output-based controller with two operational modes for a robot with uncertain parameters in set-point regulation tasks

This paper presents a control approach for the setpoint regulation task of a rigid robot with uncertain parameters. The controller strategy is based on two operational modes. During the first mode, the controller drives the robot toward a small neighborhood of the equilibrium point, while in the second mode, the robot converges exponentially to the final target. The proposed control scheme is associated with simple linear controllers, it applies position measurements only, and accounts for the system uncertainties and the unknown payload. Friction is included in the model. Simulation and experimental results are demonstrated.