Stability of task-space feedback control for robots with uncertain actuator model: theory and experiments

In this paper, a task-space setpoint controller with uncertain actuator model is proposed. It is shown that the asymptotic stability of the robot's motion can still be guaranteed even with uncertainties in the actuator and dynamics models. Sufficient conditions for choosing the feedback gains are presented to guarantee the stability. The proposed controller is implemented on an industrial robot, Puma 560, to demonstrate the feasibility of the controller.