Robust Control of Parameter Fluctuations for Helical Motor

The robustness of motion and force control are analysed. The design of gains controller are performed to make system robust to model uncertainties. Simulations and experiments are conducted, with the variation of model parameters, in order to verify the control performance. The analysis is extended to One-link and Two-link manipulators. Furthermore, a new method for motion suppression is developed based on th computation of kinetic energy. The proposed method is evaluated by experiment.