NONLINEAR ROBUST INDUSTRIAL ROBOT CONTROL.

A new nonlinear robot control scheme is proposed in this paper which is robust against modeling error and unknown disturbance. The control input consists of a nonlinear part and a linear part. The nonlinear part decouples robot dynamics to obtain a set of equations in terms of each joint's input and output; the linear part applies robust servomechanism theory to suppress effects of modeling error and unknown disturbance. The nonlinear part can be calculated by using recursive Newton-Euler formulas or parallel processing hardware, and the linear part by dedicated, localized microprocessors; therefore, this methodology is computationally efficient, and is applicable to general robot configuration. The scheme is applied to control a two-joint, SCARA-type robot.