ℋ∞ robust motion control of kinematically redundant manipulators

A robust motion control with special focus on kinematically redundant manipulators is proposed based on the kinematically decoupled (KD) joint space decomposition and the analytic nonlinear ℋ_∞ control. Within the ℋ_∞ control design, robustness can be achieved by formulating the disturbance input to include model uncertainties and external disturbances as well. The proposed ℋ_∞ control is based on the analytic solution of the related Hamilton-Jacobi-Isaccs equation, and does not require any further assumptions except the Euler-Lagrange properties. Two components of motion, task and null motion, of a redundant manipulator are robustly controlled by the proposed KD reference motion compensation (RMC) reference error feedback (REF) control