Newton Euler formulation of a model based variable structure robot controller

The design of robot controllers should consider computational complexity and the potential for real time implementation as well as robustness and convergence of tracking errors. In this paper, the computational side of a robust robot controller designed by the computed torque technique (CTT)+variable structure system (VSS) method is emphasised. This controller is written in the form of Newton Euler (NE) equations, the consequence of this being that it is much easier to implement the control in real time on multi-joint robots.