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

摘要

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.