Experimental Studies of A Robust Tracking Controller for Robot Manipulators with Position Measurements Contaminated by Noises

In the paper a continuous time tracking controller without using velocity measurement is discussed. In practical application, continuous time controllers have to be implemented in discrete form, and we have to consider the influence of noises caused by quantization errors in the position measurements. To show the effectiveness of a proposed tracking controller in the presence of quantization errors, experiments are carried out by using a two-link robot manipulator device.