An algorithm for the trajectory control of robot manipulators by decentralized feedback is proposed. A decentralized model following controller is used that bypasses the complexities posed by the nonlinear, uncertain dynamics of manipulator, dealing instead with the simpler actuator dynamics and treating the joint torques as disturbances. The controller is simple, computationally easy, and robust to parametric uncertainties and payload variations.

Madan Gopal

Electrical Engineering

(SoE) School of Engineering

S.R. Pandian

M. Hanmandlu

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