The Robust Tracking Control of Restrained Robot with Random Perturbation on the Base
动基座机器人的末端受限鲁棒跟踪控制

According to the dynamics of the restrained robot system with random perturbation on the base, a matching model of imaginary linear uncertain system is established in this paper. The method to design a robust stabilizing controller for the linear uncertain system is introduced, and a force robust tracking control method is developed for the restrained robot. The effectiveness of this method has been verified by experiment with the PUMA562 mounted on a omnidirectional vehicle.