Abstract
Robot manipulators are often tasked with working in environments with vibrations and are subject to load uncertainty. Providing an accurate tracking control design with implementable torque input for these robots is a complex topic. This paper presents two approaches to solve this problem. The approaches consider joint space tracking control design in the presence of nonlinear uncertain torques caused by external vibration and payload variation. The properties of the uncertain torques are used in both approaches. The first approach is based on the boundedness property, while the second approach considers the differentiability and boundedness together. The controllers derived from each approach differ from the perspectives of accuracy, control effort, and disturbance properties. A Lyapunov-based analysis is utilized to guarantee the stability of the control design in each case. Simulation results validate the approaches and demonstrate the performance of the controllers. The derived controllers show stable results at the cost of the mentioned properties.
Highlights
Many robot manipulators work in environments with vibrations and are concurrently subject to payload uncertainty
This paper studies the regulation problem in joint space for a manipulator subjected to uncertain torque due to vibration and payload variation
We expect that a robot manipulator can perform its task even in the presence of an external vibration and/or a payload variation
Summary
Many robot manipulators work in environments with vibrations and are concurrently subject to payload uncertainty. The controller derived from the first approach is compared with a PD controller in the presence of bounded disturbance torques that are caused by vibration and payload variation. In comparison with the mentioned existing advanced techniques, the proposed approaches are conducted based on the best compact dynamic model of a rigid-link robot arm in the presence of disturbance torques due to vibration and payload variation. The effects of both the vibration and payload variation are considered as uncertain disturbance torques.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have