Abstract: In this paper, we propose a trajectory tracking control law based on backstepping approach for the SCARA robot. We design the virtual and actual control terms by employing the backstepping approach. Based on Lyapunov's stability theory, the designed control law can track the trajectory of the robot and ensure that the closed-loop system is globally stable. Simulation results verified the effectiveness of the designed algorithm. The closed-loop system is uniformly globally asymptotically stable,which effectively improves the accuracy performance of trajectory tracking and ensures the convergence of the tracking error signal.

Key words: SCARA robot, backstepping design;trajectory tracking, nonlinear control