Experiments on robust control of robot manipulators

Several robust control schemes and a computed torque method were implemented on a two degree-of-freedom direct drive robot. Simulations and experiments have been performed to test the effectiveness of the control schemes and to compare their performance. Based on the results obtained, an integral control has been introduced with a saturation control scheme. This has been found to generate a better tracking performance than the other methods evaluated experimentally. Some generic problems with the implementation of robust control schemes were found and are discussed