Robust digital controller design for robot manipulator

The problem of the robust digital controller design to solve a tracking problem for robotic manipulators is studied. The design method based on the formation of two-time-scale motions in the closed-loop system is used. It has been shown that if a sufficient time-scale separation between the fast and slow modes in the discussed closed-loop system and stability of fast modes are provided then slow modes have the desired form and thus the output transient performance indices are insensitive to parameter variations of the robotic manipulator. Numerical simulations of the two-link robotic manipulator are presented.