High-quality bounded robust robot stabilizing control

The robot model used incorporates unknown nonlinearities due to friction in joints and unknown payload variation, and reflects control constraints of the saturation type. The control is synthesized to assure both stability and attraction with a demanded finite reachability time of the robot desired motion. The controlled robot variables (angles, positions, velocities) also obey their constraints. An example of the control synthesis for a three degree-of-freedom robot is shown.