Abstract
Current robot manipulators are controlled by decentralized or independent joint controllers. That is, each joint is locally controlled using only local information. The high-gain feedback is adopted in the control of industrial robot manipulators because of its robustness to parameter variations and disturbances. We discuss the asymptotic behavior of the closed-loop eigenvalues of such systems. In this paper, we propose a method for assigning the multivariable pivots of the multivariable root-loci. We also propose a method for approximate assignment of closed-loop eigenvalues of manipulator systems, which are controlled by independent joint controllers, with high feedback gain.
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