Set-point Regulation of Robot Manipulator with Uncertain Parameters by using an Output Feedback Controller and a Gravity Compensator

Abstract

This study considers the set-point regulation problems of rigid robot manipulators with unknown system parameters. The proposed control strategy is composed of two operational phases. In the first phase a robot system is stabilized by using an output feedback controller which makes use of position measurements only, and in the second phase the robot position goes toward the desired position using a gravity compensator. Simulation results for the twolink robot without and with a payload are demonstrated to present the performance of the proposed algorithm.