Robust stability design framework for robot manipulator control

A methodology for the design of robust manipulator control loops is presented. Generally applicable stability conditions for a class of complex, nonlinear, time-variant control systems are applied to robot manipulators with rigid body dynamics. The robust stability design method allows the model uncertainties of various nonlinear or pure linear controllers to be taken into account, and may be viewed as a framework for robust manipulator control. It is shown that for a big class of robot manipulators, robust control can be achieved by frequently used linear time-invariant state-feedback controllers. Graphs are developed to facilitate the controller design