Simulation of robust dynamic controller for redundant manipulators

The robustness of dynamic control for redundant manipulators is investigated. A robust controller based on Lyapunov's stability analysis is derived. Asymptotic tracking of the end effector in Cartesian space is thus achieved. Using the proposed redundancy resolution measures at the acceleration level, a subtask with singularity avoidance can be accomplished. Simulation results confirm the effectiveness of the proposed schemes. The simulations show that the proposed control scheme guarantees tracking of a desired Cartesian space trajectory while seeking a better manipulability gesture even in the presence of parameter uncertainties.<>