Application of Lyapunov-like methodology for a humanoid robot tracking in task space
类Lyapunov理论在类人形机器人任务空间内跟踪的应用

A new method for the arm control of a humanoid robot is proposed under the consideration of many uncertain factors.Based on Lyapunov-like methodology,controllers in task space were constructed which had a robust effect.Being different from common results,the obtained controllers not only guarantee tracking stability within a finite prescribed time,but also need not solve the inverse of Jacobian matrix and achieve robustness with respect to a class of bounded disturbance.Finally,numerical simulation results were given to illustrate the proposed methods.