Robust Control Strategies of Puma 560 Robot Manipulator

This paper is focused on the comparison between two robust control schemes applied to PUMA 560 robot arm. The inner control loop is designed basing on the so-called computed torque technique. Concerning the outer loop, we have first proposed a nonlinear controller; the robust stability and desired position tracking are guaranteed using Lyapunov formulation. In the second approach, we have developed an active disturbance rejection controller for the outer loop; this controller is based on a nonlinear observer used for estimating and then compensating the residual uncertainties of the linearized manipulator.