Trajectory Tracking of the Manipulator using Adaptive Computed Torque Control

Abstract

In the current manufacturing environment flexibility and enhancing the efficiency of articulated manipulators for safe robot manipulation is a fundamental requirement. The goal of targeting the intact planning and control of a manipulator because of physical contact with obstacles is essential in the absence of external sensing, or it can cause an unexpected collision. Furthermore, in the well-structured environment, a manipulator may face uncertainty concerning the parameters describing the dynamic properties of the grasp load, such as the unknown moment of inertia. For tracking the calculated trajectory accurately, the potential of a robotic manipulator gets limited because of difficulty in computing these uncertain parameters. This paper focuses on ensuring the safe reaction while trajectory tracking of the rigid robot manipulator due to physical contact, having some unknown parameters by applying Adaptive Control along with Computed Torque Control. To prevent the damage of the manipulator or even the object, the applied mathematical model of Adaptive Computed Torque Control is demonstrated on the Rethink Sawyer manipulator in the Simulink environment. The simulation results depict the efficient trajectory tracking of the Sawyer manipulator having parameter uncertainty in link masses, with a safe reaction after colliding with the planer object.