Robust controller design and experimental validation based on bounded uncertainty for collaborative industrial robots

Author:

Cheng Hu12ORCID,Zheng Hongmei1,Zhen Shengchao12ORCID,Liu Xiaoli3ORCID,Chen Ye-Hwa4

Affiliation:

1. School of Mechanical Engineering, Hefei University of Technology 1 , Hefei 230009, China

2. Intelligent Manufacturing Institute of Hefei University of Technology 2 , Hefei 230051, China

3. School of Artificial Intelligence, Anhui University 3 , Hefei 230601, China

4. The Geroge W.Woodrufi School of Mechanical Engineering, Georgia Institute of Technology 4 , Atlanta, Georgia 30332, USA

Abstract

In this paper, derived from the proportional–derivative control and robust control, a novel practical robust control method based on a dynamic feedforward model is established by taking six-axis motion cooperative industrial robots as the research object. The nonlinear friction, parameter uncertainty, and external disturbance are taken into consideration while establishing the dynamic model of the cooperative industrial robot. The method includes a proportional–derivative control and a robust control. Lyapunov theory is used to analyze the proposed controller, and it is shown that this method can guarantee uniformly bounded and uniformly final bounded systems. Simulation and experiment results show that the proposed controller is better than proportional–integral–derivative control and mode-based proportional–derivative control in stability tracking performance and robustness. In addition, the CSPACE platform for rapid controller prototyping may reduce the arduous programming effort and offer a lot of ease for the trials.

Funder

National Natural Science Foundation of China

Key Laboratory of Construction Hydraulic Robots of Anhui Higher Education Institutes,Tongling University

The Pioneer Program Project of Zhejiang Province

Key Research and Development Program of Anhui Province

The University Synergy Innovation Program of Anhui Province

Anqing City-Hefei University of Technology Industrial Innovation

Publisher

AIP Publishing

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