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Currently, zero-order sensors are commonly used as positioning feedback for the closed-loop control in robotics; thus, in order to expand robots’ control alternatives, other paths in sensing should be investigated more deeply. Conditions under which the n-th order sensor output can be used to control k-DoF serial robot arms are formally studied in this work. In obtaining the mentioned control conditions, the Pickard-Lindeloff theorem has been used to prove the existence and uniqueness of the robot’s mathematical model solution with n order sensory systems included. To verify that the given conditions and claims guarantee controllability for both continuous-based and variable structure-based systems, two types of control strategies are used in obtaining simulation results: the conventional PID control and a second-order Sliding Mode control.

journal of sensors

<math xmlns="http://www.w3.org/1998/Math/MathML" id="M1"> <mi>n</mi> </math>-th Order Sensor Output to Control <math xmlns="http://www.w3.org/1998/Math/MathML" id="M2"> <mi>k</mi> </math>-DoF Serial Robot Arms

n -th Order Sensor Output to Control k -DoF Serial Robot Arms

$n$ -th Order Sensor Output to Control $k$ -DoF Serial Robot Arms