A robust and minimum tracking error controller design for robot arms

로보트 팔에 대한 로버스트하고 추적 오차를 최소화하는 제어기 설계

This paper describes a design of the dynamic robot arm controller with two points of view, robustness and minimum tracking error. A new approach to the robust control of robot arm is developed and an explicit solution for minimum tracking error control is obtained from the regulator problem in the error space given by modifying the tracking problem. This control law is applied to the SCARA robot and the computer simulation is presented.