A two degrees of freedom control design for robot manipulator using internal model structure

A two degrees of freedom control structure is proposed for trajectory tracking of a robot manipulator. Based on the internal model control concept, a disturbance controller is designed to decouple dynamic interactions among joints. Since joint dynamics are linearized and decoupled, design of the tracking controller is greatly simplified. To account for practical limitations, a sliding mode control technique is adopted to enhance robustness. A computer simulation study of a two-link manipulator produced satisfactory results.<
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