Robust manipulator control method considering limit values of torque and controller output

The robust manipulator control method based on a robust acceleration controller is effective for an accurate and guide manipulator motion control. However, as this method does not consider the limit values of torque and controller output, it often has an oscillated response or a windup phenomena caused by the saturation effect due to these limit values. This paper proposes the two new types of adjusting algorithm for manipulator control, which consider the limit values of torque and controller output. The robust manipulator motion control method using these adjusting algorithms well regulates the position and the path tracking smoothly and accurately, and its response does not cross over these limit values