Path tracking control of robot manipulators via the VSS approach

The path tracking control problem is considered for a robot manipulator subject to parameter uncertainty and external disturbance. By using the theory of variable structure systems (VSS) and taking advantage of the important property of the robot dynamics, a new control strategy is proposed in which both parameter uncertainty and external disturbance can easily be taken into account. It is shown that with this control strategy, accurate path tracking is guaranteed. Moreover, on-line parameter estimation is not required, which makes the strategy easy to implement.