Model-Free control of electrically driven robot manipulators using a Tracking-Differentiator

This paper presents a very simple model-free control approach based on the voltage control strategy for robot manipulators. The novelty of this paper, in addition to the very simple model -free control approach, is the use of Tracking-Differentiator to calculate the velocity of each joints. Therefore, the number of required sensors is reduced. The control system is consisted of a total disturbance estimator, and a simple controller. The case study is an articulated robot manipulator driven by permanent magnet DC motors. Simulation results and comparison verify the effectiveness of the proposed approach

Keywords:

Model-Free control , Voltage Control Strategy , Tracking Differentiator , Total disturbances ,