Position/force control for robot manipulators applying robust control algorithms

When a real robot manipulator is mathematically modeled, uncertainties are not avoidable. The uncertainties are often nonlinear and time-varying The uncertain factors come from imperfect knowledge of system parameters, payload change, friction, external disturbance, etc. We proposed a class of robust hybrid controls of manipulators and provided the stability analysis in the preceding work. In the work, we apply the result of previous work to a real robot system. The robust control algorithms and PID controls are experimentally implemented to SCARA type manipulator. The experimental results are compared with computer simulation result