Abstract
In this paper, the dynamics-based high-performance robot motion control technology has been mainly studied, and the overall structure is controlled via dynamics forward, given the nonlinearity, strong coupling and time-variability of robots. Considering the unavailability of precise robot model parameters and the uncertain disturbance in real operation, we put forward an active disturbance rejection control (ADRC) strategy based on dynamic feedforward, aiming to improve the control robustness and combining the simple structure, strong anti- disturbance ability, and no restriction from the control model of ADRC. Given the multi-joint coupling of robots, controlled decoupling is conducted by using dynamic characteristics. The ADRC cascade control structure and algorithm based on dynamic feedforward have been studied and the closed-loop stability of the system is investigated by analyzing the system dynamic linearization compensation and the anti-disturbance ability of the extended state observer. Experiments have shown the new strategy is more robust over uncertain disturbance than the conventional proportional-integral-derivative control strategy.
Highlights
Industrial robot systems are featured with nonlinearity, strong coupling and multivariate time-variability [1]
To reduce the order of disturbance observation and improve the observation precision, we study the active disturbance rejection control (ADRC) cascade control structure and algorithm based on dynamic feedforward
Strategy based on dynamic feedforward starting from the control perspective and combining the simple structure, strong anti-interference ability and no restraint from the control model of ADRC
Summary
Industrial robot systems are featured with nonlinearity, strong coupling and multivariate time-variability [1]. High-quality motion control refers to high-speed and high-precision motion control, that is the robot in the high-speed motion process, can have fast dynamics response, high tracking accuracy, smooth start and stop stage. The control systems during high-speed motion are largely challenged by the severe multi-joint torque coupling, large inertia change and significant nonlinear effect. The attitude variation stable refers to the robot maintaining a smooth, non-jitter throughout the movement. To keep the position and attitude variation stable and achieve high-quality motion control, researchers have to first solve the nonlinear time-variability due to the characteristics of robots. The control system should provide real-time control characteristics that match with the dynamics of robots and the multi-source disturbance characteristics, thereby achieving multi-joint nonlinear decoupling control
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