Robust control of robot manipulators based on dynamics decomposition

This paper presents a new robust saturation-based control method for robot manipulators and related experimental results. The proposed method distinguishes between uncertainty in the inertia, Coriolis and centripetal forces, gravity and friction. A robust compensator is designed for each type of uncertainty, and each control parameter is directly related to a specific behavior of the closed-loop robot system and can be adjusted accordingly. The goal is to achieve better performance by using this fine-tuning capability of the control law. The proposed control method has been implemented on a direct-drive robot arm. Experiments were conducted to investigate the effectiveness of the proposed method, and the results are reported in this paper.