Global Position Feedback Tracking Control of a Serial Robot Manipulator with Revolute Joints
Abstract
In this paper, we present the controller which globally stabilizes a non-stationary motion of a serial robot manipulator with revolute joints without velocity measurements.A family of desired manipulator motions is considered such that the first vertical link of the manipulator performs a given rotation, and the remaining links retain the given relative angular positions. It is proved that such motions of the manipulator can be made globally asymptotically stable using dynamic position feedback. The problem is solved taking into account the periodicity of the dynamics equations along the angular coordinates of the links. As an example, a numerical simulation of the three-link manipulator motion under the constructed controller is presented.