%0 Journal Article
	%A A. Izadbakhsh and  M. M. Fateh
	%D 2007
	%J International Journal of Electrical and Computer Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 5, 2007
	%T A Model-Free Robust Control Approach for Robot Manipulator
	%U https://publications.waset.org/pdf/10618
	%V 5
	%X A model-free robust control (MFRC) approach is proposed for position control of robot manipulators in the state space. The control approach is verified analytically to be robust subject to uncertainties including external disturbances, unmodeled dynamics, and parametric uncertainties. There is a high flexibility to work on different systems including actuators by the use of the proposed control approach. The proposed control approach can guarantee the robustness of control system. A PUMA 560 robot driven by geared permanent magnet dc motors is simulated. The simulation results show a satisfactory performance for control system under technical specifications.  KeywordsModel-free, robust control, position control, PUMA 560. 
	%P 757 - 759