On the robust control of robot manipulators including actuator dynamics

A robust nonlinear control law that incorporates the manipulator dynamics as well as dynamics of actuators is developed in this article. The inertial parameters of the manipulator and the electrical parameters of the actuators are considered to be of uncertain values. In contrast to the known methods, the presented design procedure is based on less restrictive assumptions regarding the characteristics of uncertainties. We just assume that unknown parameters are bounded, which is evidently true for any robotic system. Exponential stability of the developed controller is proved by the Lyapunov method. (C) 1996 John Wiley & Sons, Inc.