Motion control of direct drive robots using robust deterministic control theory

This paper presents an application of the robust deterministic control proposed in the earlier paper to the motion control of direct drive robotic manipulators. Inertia variations due to kinematic changes, unknown and time-varying paylod. Coriolis and centrifugal accelerations, and friction and gravitational torques are considered as uncertainties in the formulation. "Parasitic" actuator and sensor dynamics of the robot system are considered in the controller design and analysis by means of a singular perturbation technique. Simulation and experimental studies have been conducted for a two degree of freedom, direct drive SCARA robot to evaluate the control performance.