Nonlinear Robotic Control Including Drive Motor Interactions

A unified approach to a robust robotic control design which retains all the nonlinearities inherent in the dynamics is developed for motor-robot configuration considered as an interacting system. This control system design, based on decomposition and Freund's nonlinear decoupling control theory with arbitrary pole placement, decouples the motor-robot configuration into robot, motor, and series compliance (interaction) subsystems. This approach is in contrast to the conventional treatment of the motor as a pure torque source and the neglect of dynamic interactions between the robot joint and the motor drive mechanism.