Trajectory planning with uncertainty in manipulators

An attempt was made to design an online trajectory planner-controller system, which uses a decentralized control of the various subsystems corresponding to the independent degrees of freedom in the system. The controller uses variable structure control modified for uncertain systems. Explicit bounds are developed to determine error bounds in positions and velocities and the tracking capability in the presence of bounded control. These bounds are used by the online trajectory planner to plan various types of motions such as optimal motions or motions in uncertain environments. The establishment of these bounds enables the monitor to plan, predict, and modify trajectories using the nominal linear model and appropriate compensation