A Modified Robotic Manipulator Controller Based on Bernstein-Kantorovich-Stancu Operator.

Abstract

With the development of intelligent manufacturing and mechatronics, robotic manipulators are used more widely. There are complex noises and external disturbances in many application cases that affect the control accuracy of the manipulator servo system. On the basis of previous research, this paper improves the manipulator controller, introduces the Bernstein-Kantorovich-Stancu (BKS) operator, and proposes a modified robotic manipulator controller to improve the error tracking accuracy of the manipulator controller when observing complex disturbances and noises. In addition, in order to solve the problem that the coupling between the external disturbances of each axis of the manipulator leads to a large amount of computation when observing disturbances, an improved full-order observer is designed, which simplifies the parameters of the controller combined with the BKS operator and reduces the complexity of the algorithm. Through a theoretical analysis and a simulation test, it was verified that the proposed manipulator controller could effectively suppress external disturbance and noise, and the application of the BKS operator in the manipulator servo system control is feasible and effective.