Robust hybrid control of robot manipulators in an unstructured environment

A hybrid (position and force) control algorithm of a robot manipulator with internal uncertainty and working in an unstructured environment is proposed. The internal uncertainty can be due to imperfect modelling, friction, payload or external disturbances. The unstructured environment can be due to the lack of knowledge of the designer. The problem has been cast into the framework of control of dynamical systems whose mathematical model contain uncertainties. Based solely on the bound of the uncertainties, controllers can be constructed which guarantee certain desirable performance.<>