Abstract
This study considers the problems of manipulators with high coupling, parameter uncertainties, and external disturbances. A six-axis serial manipulator control system based on active disturbance rejection control strategy is proposed without the requirement of the exact dynamic model. First, the operating circuit of the manipulator joint motor is analyzed, and the mathematical model of the direct-current torque motor is established. Second, the components of active disturbance rejection control are designed, and a new nonlinear function is selected to construct the extended state observer and nonlinear state error feedback control law. Then, Kalman filter is introduced into an extended state observer to estimate the disturbance efficiently. Finally, the proportion–integration–differentiation control, traditional active disturbance rejection control, and improved active disturbance rejection control are simulated and compared under the same input signal. The results show that the proposed control strategy has good dynamic performance and uncertain disturbance robustness, which proves the effectiveness of the proposed method.
Highlights
In modern industrial production, industrial robots have replaced human beings in many fields owing to their large labor capacity, high precision, high repeatability, and ability to work in harsh working environments
The results show that the proposed active disturbance rejection control (ADRC) can well realize the positioning control and tracking control of multi-axis linkage manipulator, and the structure is simple and easy to establish
The analysis indicates that improved ADRC quickly estimates the disturbance value through extended state observer (ESO) and compensates in time to improve the anti-interference ability of the model
Summary
Industrial robots have replaced human beings in many fields owing to their large labor capacity, high precision, high repeatability, and ability to work in harsh working environments. An ADRC scheme for pneumatic muscle actuator was constructed, which provided good conditions for the stability of the control system with saturated actuator.[25] An ADRC was designed for at the position control of the finger of a two-joint robot driven by pneumatic artificial muscle, which solved the decoupling problem of double input and double output and achieved stable and high-precision control.[26] a nonlinear ADRC controller was designed for trajectory tracking of robotic manipulators The robustness of this method to parameter uncertainties and disturbances was discussed. Locked-rotor current Locked-rotor torque Rated voltage Maximum no-load torque ia
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