Trajectory tracking using a new robust approach

Control of industrial manipulators often requires high speed and accurate trajectory tracking which could be event-dependent. The tracking accuracy is dependent on system inertial properties which are varying with the manipulator configuration. Perturbations of a certain class in system parameters are considered and a robust design method using a non-asymptotic approach based on trajectory generation and actuator torque control is introduced. Using this approach, the manipulation of reference inputs (trajectories) reduces the effect of perturbations occurring in the system parameters.