Robust robot control with bounded input torques

A new scheme is presented to achieve effective on‐line tracking control of robot manipulators in the presence of model uncertainty and torque limitations. Pointwise optimization techniques are incorporated into a “slow” feedback loop in order to generate feasible desired trajectories, optimally close to the original desired trajectories. A suction controller is used in the “fast” main feedback loop, allowing to combine robust tracking with simple controller design. Simulations show very significant performance improvement over standard techniques. The algorithm is computationally cheap and can easily be implemented on‐line.