Robust Stabilization as a Whole of Two-Link Robot Manipulator Using Feedback with Saturation

For a class of two-link robot manipulators the limited control of a drive of one of the links is proposed in a form of the feedback effecting some variables, which provides the solution of the equilibrium stabilization problem for all mechanisms of the class. The stability analysis was conducted using Lyapunov’s method of functions. The transient process example is given.