Nonlinear robust hybrid control of robot manipulators.

Shay Ping T. Wang, C. Y. Kuo

Research output: Contribution to journalConference articlepeer-review


A nonlinear robust hybrid control scheme for robot motion control is proposed. The control input consists of a nonlinear and a linear part. The nonlinear input decouples a robot dynamics and obtains a set of position and force equations in the Cartesian coordinate. The linear part applies the robust servomechanism theory to suppress position or force tracking error due to uncertainties. This nonlinear robust hybrid control scheme is applied to a two-joint SCARA-type robot, and simulation results demonstrate excellent robustness properties and satisfactory hybrid control even under severe modeling errors.

Original languageEnglish (US)
Pages (from-to)1345-1350
Number of pages6
JournalProceedings of the American Control Conference
Volume88 pt 1-3
StatePublished - Dec 1 1988
Externally publishedYes

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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