In this paper, a novel robust tracking control law is proposed for constrained robots under unknown stiffness environment. The stability and the robustness of the controller are proved using a Lyapunov-based approach where the relationship between the error dynamics of the robotic system and its energy is investigated. Finally, a 3DOF constrained robotic arm is used to prove the stability, the robustness and the safety of the proposed approach.
@article{arxiv.1405.1821,
title = {Robust Tracking Control for Constrained Robots},
author = {Haifa Mehdi and Olfa Boubaker},
journal= {arXiv preprint arXiv:1405.1821},
year = {2014}
}