Global and semi-global motion control of a robotic arm without velocity measurement

New models of nonlinear control of multilink robotic manipulators are substantiated. The feedback structure of these models makes it possible to stabilize the positions and track the trajectories of the manipulators without measuring the angular velocities of the links. The constructed control models take into account the features of the connection and drives of the links based on the simulation of the system in a cylindrical phase space. This makes it possible to reduce the energy consumption for ensuring global and semi-global stabilization of given motions.