Abstract
Stability and robustness analysis of various tractable and easily implementable feedback control laws for robotic systems with a single mechanical arm or a pair of master and slave robot arms with different structures is presented. In case of the control consisting of linear position and velocity feedback loops with a simple nonlinear compensation for the gravity term, the exponential-asymptotic stability of positioning in joint space is proved, under a full nonlinear model of robot's dynamics and actuator servos. The asymptotic stability of positioning in task space is also established when the feedback law in joint space is modified by being transformed through the transpose (not the inverse) of the Jacobian matrix. In addition, these discussions are extended to the stability analysis of tele-operation of master-slave robotic systems.
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