A State-Space Robust Feedforward Compensator for Industrial Robot Manipulators Needless to Computed Torque Control

This paper presents a unified robust motion control scheme for robot manipulators in state space. The controller design task is carried out based on feedforward control sketch in state space framework with no need to the Computed Torque Control (CTC) which is usually used in many other control approaches. In the proposed approach, the load torque and some other uncertainties in the linear model of the actuators as external disturbances are successfully mitigated by the used control law. Six degrees of freedom PUMA560 arm, including completed models of actuators is simulated and the results satisfy the common technical specifications including good tracking and robustness. The proposed control approach can guarantee the stability and a satisfactory tracking performance via a simple design method. Key-Words: Manipulator, computed torque control, feedforward control, state space, Trajectory planning.