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Model-based robust control design and experimental validation of collaborative industrial robot system with uncertainty |
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| Authors: | ShengChao Zhen Meng Zhang XiaoLi Liu Ye-Hwa Chen |
| Affiliation: | 1. School of Mechanical Engineering, Hefei University of Technology, 193 Tunxi Road, Baohe District, Hefei, 230009 China The George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, 30332 Georgia, USA AnHui Key Laboratory of Digital Design and Manufacturing, Hefei University of Technology, 193 Tunxi Road, Baohe District, Hefei, 230009 China Contribution: Conceptualization, Methodology;2. School of Mechanical Engineering, Hefei University of Technology, 193 Tunxi Road, Baohe District, Hefei, 230009 China;3. The George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, 30332 Georgia, USA |
| Abstract: | Based on the traditional PID control and robust control algorithm, a novel practical robust control method is designed for the 6-DOF collaborative industrial robot with uncertainty. The proposed algorithm consists of a robust term and a model-based PD control term, which we call MPDP controller. It is demonstrated by Lyapunov theoretical analysis that the algorithm is able to guarantee uniform boundedness and uniform ultimate boundedness of the system. Simulations and experiments show the good performance of MPDP control in a robot with smaller steady-state tracking errors and better robustness compared to PID controllers. |
| Keywords: | collaborative industrial robot Lyapunov method robust control trajectory tracking uncertainty |