Tracking Control Algorithm For Industrial Robots With Unknown Friction And Payload

Abstract

The paper presents a path tracking control for robotic manipulators. The proposed control law uses the model of the robot but the payload mass and the frictional parameters are considered totally unknown. The unknown parameters are determined using on-line gradient parameter estimation techniques. Using Lyapunov method it was shown that the resulting controller achieves guaranteed final tracking accuracy. Simulation results are presented to illustrate the effectiveness and achievable control performance of the proposed scheme.