Robust control and adaptive robust control of robot manipulators

A new robust and a new adaptive robust control methods for robot manipulators with uncertainty that achieve thtr specified tracking precision are proposed. The robust controller needs the upper bound of the parameter errors, and then uses a relatively high gain feedback. Oil the other hand, the adaptive robust controller needs not the error bound, but it makes an on-line estimation for the feedback gain. The later is computationally simple and robust. to unexpected disturbance than adaptive control scheme in which all the physical parameters are on-line estimated, and allows the parameter errors to be in a large range than conventional adaptive robust method. The proposed control schemes are verified to be effective by experiments.