Robust Control of Electrically Driven Robots in the Task Space

In this paper, a task-space controller for electrically driven robot manipulators is developed using a robust control algorithm. The controller is designed using voltage control strategy. Based on the nominal model of the robotic arm, the desired signals for motor currents are calculated and then the voltage control law is proposed based on the current errors and motor nominal electrical model. Uncertainties such as parametric uncertainties, external disturbances and also imperfect transformation are compensated in the control law. The case study is a two-link robot manipulator equipped by permanent magnet DC motors. Simulation results verify the satisfactory performance of the proposed controller in reducing the tracking error and overcoming uncertainties.

Keywords:

Robust Task-space control , Imperfect transformation , Uncertain kinematics , Uncertain dynamics