TechRxiv
40665899_File000001_1006127151 (1).pdf (3.55 MB)

Robust Region Tracking Control for a Robot Manipulator

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posted on 25.03.2021, 21:48 by xiangyun Li, QI LU, Zhaoyang Chen, Qinlin Yang, Kang Li
n this work, the uncertainty and disturbance estimator (UDE)-based robust region reaching controller for a robot manipulator is developed to achieve the moving target region trajectory tracking and complaint human robot interaction inside the target region. The regional feedback error is derived from the potential function to drive the robot manipulator end effector converging into the target region. Under the back-stepping control framework, the UDE is fused into the region tracking control law to estimate and compensate the model uncertainty and external disturbance. Both simulation and experimental studies are carried out with a universal robots (UR) 10 manipulator to demonstrate the effectiveness of the proposed method for moving target trajectory tracking, model uncertainty and external disturbance rejection, and compliant human robot interaction within the target region.

Funding

Research on Topological Scale Fusion Design Method of Rehabilitation Mechanism Based on Human-Computer Workspace Compact Matching

National Natural Science Foundation of China

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Email Address of Submitting Author

qi.lu@scu.edu.cn

ORCID of Submitting Author

https://orcid.org/0000-0002-9255-8014

Submitting Author's Institution

Sichuan University

Submitting Author's Country

China

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