This paper addresses the problem of task-space robust regulation of robot manipulators subject to external disturbances. A velocity-free control law is proposed by combining the internal model principle and the passivity-based output-feedback control approach. The developed output-feedback controller ensures not only asymptotic convergence of the regulation error but also suppression of unwanted external step/sinusoidal disturbances. The potential of the proposed method lies in its simplicity, intuitively appealing, and simple gain selection criteria for synthesis of multi-joint robot manipulator control systems.

翻译：本文研究了存在外部干扰情况下机器人操作臂的任务空间鲁棒调节问题。通过结合内模原理与基于无源性的输出反馈控制方法，提出了一种无需速度测量的控制律。所设计的输出反馈控制器不仅能够保证调节误差的渐近收敛，还能有效抑制外部阶跃/正弦干扰。该方法的优势在于其结构简洁、直观性强，并为多关节机器人操作臂控制系统的综合提供了简单的增益选择准则。