Nonlinear dynamics and tracking control of robotic manipulators

In this paper, an augmented nonlinear mathematical model of multi-degree-of-freedom robotic manipulators, actuated by electric motors is derived using the Lagrangean equations of motion. A motion control problem for nonlinear highly-coupled manipulators is solved using the Lyapunov theory and admissibility concept. An example is presented to demonstrate the application of the Lagrangean concept in analysis and modeling, and the use of the Lyapunov-based design method in synthesis of nonlinear controllers. The analytical and numerical results are performed and documented