BACKSTEPPING CONTROLLER FOR ORBIT TRACKING OF RPP 3 JOINT ROBOT

Abstract

In modern industry, robot play an important role in the automated
production process. Rovot in general and 3 degree of freedom RPP robot in
particular are the subject of much research attention, especially in the field of
control. The main contron problem with this class of objects is trajectory
tracking control to improve the accuracy of the robot when operating. The
controller design method using backstepping technique to improve trajectory
tracking quality for RPP robot is presented in this article. The stability of the
system is proven using the Lyapunov criterion and the results are numerically
simulated using Matlab software. The upshot shows that the quality of the
proposed Backstepping controller ensures very good trajectory tracking ability
for the RPP robot even when affected by noise.