Prescribed Performance Regulation for Robot Manipulators

A new controller for the joint position regulation of robot manipulators is proposed that achieves prescribed performance indices regarding the response of the joint position error. The control input incorporates a transformed error that ensures prescribed error performance which is not affected by constant disturbances and control gains. Control parameter selection is significantly simplified and is merely confined in achieving admissible input torques. A simulation example of a two degree of freedom robot is used to illustrate the theoretical results and compare the proposed controller with conventional control schemes.