Robot manipulators are often tasked with working in environments with vibrations and are subject to load uncertainty. Providing an accurate tracking control design with implementable torque input for these robots is a complex topic. This paper presents two approaches to solve this problem. The approaches consider joint space tracking control design in the presence of nonlinear uncertain torques caused by external vibration and payload variation. The properties of the uncertain torques are used in both approaches. The first approach is based on the boundedness property, while the second approach considers the differentiability and boundedness together. The controllers derived from each approach differ from the perspectives of accuracy, control effort, and disturbance properties. A Lyapunov-based analysis is utilized to guarantee the stability of the control design in each case. Simulation results validate the approaches and demonstrate the performance of the controllers. The derived controllers show stable results at the cost of the mentioned properties.

翻译：机器人机械臂常需在振动环境中工作，并承受负载不确定性。为此类机器人提供具有可实施转矩输入的精确轨迹跟踪控制设计是一个复杂课题。本文提出了两种解决该问题的方法。这些方法考虑了由外部振动和负载变化引起的非线性不确定转矩存在下的关节空间轨迹跟踪控制设计。两种方法均利用了不确定转矩的特性。第一种方法基于有界性特性，而第二种方法同时考虑了可微性与有界性。基于不同方法推导出的控制器在精度、控制能耗及扰动特性方面存在差异。本文采用基于李雅普诺夫的分析方法，确保每种情况下控制设计的稳定性。仿真结果验证了所提方法的有效性，并展示了控制器的性能。推导出的控制器在牺牲上述部分特性的前提下，均呈现出稳定的控制效果。