LYAPUNOV-LIKE METHODOLOGY FOR ROBOT TRACKING CONTROL SYNTHESIS

Based on the Lyapunov theory, a new principle of synthesizing robot tracking control of the 'resolved acceleration' type is developed. A general Lyapunov like tracking concept is used as the basis for the control algorithms derived via two different forms of Lyapunov functions. The main contribution is a result for (robust) tracking end effector (cartesian) motion which obviates the need to invert the jacobian matrix or otherwise solve for desired joint-space coordinates from the given cartesian space coordinates. Another advantage of the presented algorithms is that they guarantee tracking with a finite prescribed time. © 1990 Taylor and Francis Group, LLC.