Industrial robot control in case of uncertain dynamical parameters

The novel control method presented addresses the problem to design a nonlinear feedback controller in case of uncertain dynamical parameters and other disturbances. The input torques necessary to drive the robot manipulator are on-line computed as a function of the unbiased, minimum variance estimates of the joint coordinates and velocities, and the corrected accelerations. The state estimator is given by the discrete Schmidt-Kalman filter. The development of the system model, the control law and the implementation of the technique are outlined