CONTROLLER BASIS ON BACKSTEPPING FOR ALMEGA 16 ROBOT IN JOINT SPACE AND IN WORKSPACE

Abstract

The Practical implementation of the conventional model-based controllers for
nonlinear systems requires that the parameters in the dynamic models be known
precisely (mass, joint length v.v.).It is well known that robot manipulators are
considered as a class of nonlinear systems with large coupling and uncertainties in
dynamic models, thus advanced approaches should be developed to improve
robustness in high-accuracy tracking motions. The backstepping control is a
systematic technique for designing globally stable and asymptotically controllers
for nonlinear systems. The paper presents the backstepping control law for the
tracking motion of nDOF Robot manipulators in joint space and in workspace.
Simulation results of tracking motions of 3DOF Robot have reconfirmed the
effectiveness of the proposed control law: Robot movement system ensures that
the errors of the rotating joints quickly reach zero with a small transition time,
making the closed system stable according to Lyapunov standards.