A new scheme is presented for the accurate tracking control of robot manipulators. Based on the more general suction control methodology, the scheme addresses the following problem: Given the extent of parametric uncertainty (such as imprecisions or inertias, geometry, loads) and the frequency range of unmodeled dynamics (such as unmodeled structural modes, neglected time delays), design a nonlinear feedback controller to achieve optimal tracking performance, in a suitable sense. The methodology is compared with standard algorithms such as the computed torque method and is shown to combine in practice improved performance with simpler and more tractable controller designs.
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