Time-scale separation of a class of robust PD-type tracking controllers for robot manipulators

► The literature reports the use of linear and non linear PD controllers to achieve motion control of manipulators. ► The proof the robustness of PD controllers for manipulators via singular perturbations is reported in this paper. ► A class of the PD-type controllers is introduced. ► An extension to the case of only position measurements is proposed ► The theoretical results are supported by means of a detailed real-time experimental study.