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Robust Region Tracking Control for a Robot Manipulator
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  • xiangyun Li ,
  • QI LU ,
  • Zhaoyang Chen ,
  • Qinlin Yang ,
  • Kang Li ,
  • Xiangyun Li ,
  • Jiali Chen ,
  • Ning Jiang
xiangyun Li
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QI LU
Sichuan University, Sichuan University, Sichuan University

Corresponding Author:[email protected]

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Zhaoyang Chen
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Qinlin Yang
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Xiangyun Li
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Jiali Chen
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Ning Jiang
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Abstract

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.
Oct 2023Published in IEEE Transactions on Systems, Man, and Cybernetics: Systems volume 53 issue 10 on pages 6388-6400. 10.1109/TSMC.2023.3285603