Uncertainty bound-based hybrid control for robot manipulators

The hybrid (position and force) control problem of a robot manipulator has been cast into the framework of control of dynamical systems whose mathematic model contains uncertainties. The uncertainties involved can be due to imperfect modeling, friction, payload change, and external disturbances. Based solely on the bound of these uncertainties, controllers can be constructed. A two-joint SCARA-type robot is discussed as an illustrative example.>