Application of Singular Perturbations for Multi-Link Robot Arm Modeling and Control

For large scale systems, separation of time-scales via singular perturbations method is utilized to reduce the order of the system. The order reduction is desired not only as a modeling tool but also for the design of suitable controllers. In this study, a robot arm is taken as a complex system whose time scales are to be separated to investigate its stability and control using singular perturbations method. A Lyapunou function is developed to study the stability of a one-link manipulator. The approach presented in this study is being extended for modeling, control and design of multi-link manipulators.