New energy-shaping based control plus an integral action for torque-driven robot manipulators using coordinate changes

Abstract

This paper presents a robust energy shaping control for joint position tracking of torque-driven robot manipulators against disturbances. The controller design is based on an alternative energy shaping method, and an integral action is added to the theoretical framework as a novel strategy. Our contribution is to globally achieve joint position tracking of torque-driven robot manipulators, even in the presence of constant disturbances. The performance of the proposed controller is illustrated through experiments of a two degrees of freedom direct-drive robot arm.