Stabilization of program motion for robotic manipulator on the base of the measurement of the link coordinates

The use of the known strategies and algorithms for constructing and implementing the controllers of nonlinear mechanical systems has certain difficulties associated with the need to install the sensors for the complete measurement of the current coordinates and velocities, which complicates the design of the controlled object. For the majority of the modern practical problems on the control of robotic manipulators consisting of several units the requirement for information on the current values of the coordinates and velocities of the links is unattainable. In the article the problem of constructing a stabilizing control laws for robotic manipulators in the absence of the speed sensors is investigated. The investigation approach is based on the construction of non-linear dynamic compensator of the first order, which allows to build a non-linear control law fairly simple in its structure. The novelty of the results is in the construction of the control actions to address these problems in a rather general formulation. Using the method of Lyapunov vector functions the sufficient conditions for stabilization of program motion for multilink manipulators are obtained.