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This paper is aimed at presenting a short survey of velocity-free controlschemes for robot manipulators. A salient feature of this work is theimplementation of this control schemes on a simulation model of the 3-DOFindustrial PHANToM 1.5 A robot. For both the regulation and tracking problems,two classes of control algorithms without velocity measurements are considered,namely, those based on observer-controller combination and those based onapproximate derivation through an n-order filter. The latter was shown to bemore advantageous from different aspects. First the controllers based onapproximate derivation are very intuitive and easy to implement in practice.Moreover, these algorithms are proved to be globally asymptotically stable,while the observer-based controllers have only local stability results. We havealso considered some algorithms that are robust to load disturbances and tounmodeled dynamics. Simulation results have confirmed the theoreticaladvantages and drawbacks of each algorithm.

A Survey on Output Feedback Control of Robot Manipulators with an Application to PHANToM 1.5A Haptic Device