Decentralized robust control of modular robot manipulators with harmonic drive transmission using RARKF-based joint torque estimation

This paper presents a decentralized robust control of modular robot manipulators (MRMs) with harmonic drive transmission using redundant adaptive robust extended Kalman filter (RARKF)-based joint torque estimation. The dynamic model of MRMs is formulated via RARKF-based joint torque estimation method. A decentralized robust control is developed to guarantee the trajectory tracking error is uniform ultimate bounded (UUB). The closed-loop robotic system is asymptotic stability on the basis of Lyapunov verification. The experiments are performed to clarify the effectiveness of the proposed method.