Robust deterministic control for robotic manipulators with uncertainties

A robust deterministic control for a class of singularly perturbed uncertain systems, where uncertainties are characterized deterministically rather than stochastically, is developed based mainly on information available on an uncertain reduced-order system. The deterministic control scheme is applied to the motion control of a n degree of freedom robotic manipulator. The parasitic actuator and sensor dynamics of the manipulator are explicitly considered in the stability analysis of the deterministic controller using a singular perturbation model. Simulation and experimental studies for a two degree of freedom, direct drive SCARA manipulator are conducted to evaluate the effectiveness of the derived control scheme.