CONTROL OF ROBOTS AND MANIPULATORS BASED ON INVERTIBILITY, SERVOCOMPENSATION AND UTLIMATE BOUNEDNESS

1 FOR PRECISE AND FAST TRAJECTORY FOLLOWING BY THE ROBOTIC SYSTEMS THE CONTROL SYSTEM DESIGN BASED ON SINGLE-IN-PUT, SINGLE-OUTPUT MODEL FOR EACH JOINT IS NOT ADEQUATE. WE PROPOSE TOTAKE AN APPROACH FOR CONTROLLER DESIGN BASED ON RECENT RESULTS ON INVERTIBILITY AND FUNCTIONAL RE- PRODUCTIBILITY IN MULTIVARIABLE NONLINEAR SYSTEMS. THE CONCEPT OF FUNCTIONAL REPRODUCIBILITY IS RELATED TO THE ABILITY OF SYSTEMS TO FOLLOW DESIRED TRAJECTORIES AND THUS IS QUITE APPROPRIATE FOR DESGNING CONTROLLER SO THAT ROBOT TRAJECTORY CAN AVOID OBSTACLES AND CERTAIN FORBIDDEN REGIONS. FOR THE DESIGN FIRST THE MATHEMATICAL MODEL USIG LAGRANGIAN APPROACH WILL BE DERIVED. TO THIS END, WE MAKE JUDICIOUS CHOICE OF CONTROLLED OUTPUTS OF THE ROBOTIC SYSTEM. PRIMARY LOOP WILL BE DESINGNED BASED ON RIGHT INVERTIBILITY AND REPRODUCIBILITY RESULTS. ALTHOUGH, THIS CONTROLLER DOES GIVEABILITY TO THE ROBOT AND MANIPULATOR TO FOLLOW DESIRED PATHS, THE PERFORMANCE DETERIORATES UNDER CHANDE OF PAY- LOAD. IN ORDER TO HAVE GOOD TRACKING ABILITY UNDER PARAMETERVARIATIONS WHEN THE ROBOTS PICKS AND DROPS.