Robot manipulator control using recursive torque methods

A control law using recursive torque methods is designed for a 2-link SCARA robot manipulator. This control scheme uses previous torques acting on drive motors and error dynamics for present torques, and adopts relatively simple numerical methods and control algorithms that can be easily realizable. In order to evaluate the performance and robustness of the suggested control system, a 2-link SCARA robot manipulator is practically implemented by means of a dSPACE interface. It is found that the recursive torque controller shows a good tracking performance in spite of the presence of payload disturbances