n -th Order Sensor Output to Control k -DoF Serial Robot Arms

Currently, zero-order sensors are commonly used as positioning feedback for the closed-loop control in robotics; thus, in order to expand robots’ control alternatives, other paths in sensing should be investigated more deeply. Conditions under which the - th order sensor output can be used to control - DoF serial robot arms are formally studied in this work. In obtaining the mentioned control conditions, the Pickard-Lindeloff theorem has been used to prove the existence and uniqueness of the robot’s mathematical model solution with order sensory systems included. To verify that the given conditions and claims guarantee controllability for both continuous-based and variable structure-based systems, two types of control strategies are used in obtaining simulation results: the conventional PID control and a second-order Sliding Mode control.