Robot arm with micro-hand robust control design using operator-based robust right coprirne factorization approach

Abstract

This work focuses on robust nonlinear control design of a robot arm with micro-hand by using operator-based robust right coprirne factorization (RRCF) approach. In detail, to control the precise endpoint position of robot arm and obtain the desired force using micro-hand according to the external environment or task involved, a connected feedback control system based on operator-based RRCF approach is proposed. In first sub-system, to control the angular position of the robot arm, the operator controllers and the tracking controller are designed, and the robust stability and tracking conditions are derived using RRCF approach. The second sub-system is designed to control the micro-hand force, and the robust tracking conditions are also discussed based operator-based RRCF approach. Finally, the effectiveness of the proposed control system is verified by simulation results.