Simulation of robust dynamic controller for redundant manipulators

The robustness of dynamic control for redundant manipulators is investigated. A robust controller based on Lyapunov´s stability analysis is derived. Asymptotic tracking of the end effector in Cartesian space is thus achieved. Using the proposed redundancy resolution measures at the acceleration level, a subtask with singularity avoidance can be accomplished. Simulation results confirm the effectiveness of the proposed schemes. The simulations show that the proposed control scheme guarantees tracking of a desired Cartesian space trajectory while seeking a better manipulability gesture even in the presence of parameter uncertainties