Guaranteed stability based control of robot manipulators incorporating motor dynamics

In this paper a guaranteed stability based control law is developed for rigid-link electrically-driven robot manipulators. In contrast to the known methods, the presented design procedure is based on less restrictive assumptions regarding the characteristic of uncertainties. The authors propose that inertial parameters of manipulators and electrical parameters of actuators are bounded, that is evidently true for any robotic system. Exponential stability of the developed controller is proved by the Lyapunov method. Simulation results verify the proposed method