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A Practical Model-Based Robust Control for the Modular Joint of Collaborative Robots

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Abstract

In this paper, in order to enhance the trajectory tracking effect of collaborative robot joint modules, a practical model-based robust control method with simple parameter adjustment is proposed. Firstly, in order to keep the nominal mechanical system stable, a nominal controller is established using the dynamics model. Secondly, a robust controller is established using the Lyapunov method to limit the impact of uncertainties on dynamic performance. Through theoretical analysis, it is proved that the uniform boundedness and uniform ultimate boundedness of the system are ensured by the controller. In addition, based on the actual experimental equipment, a prototype of rapid controller CSPACE is designed, which can quickly repeat the experiment and greatly enhance the experimental efficiency. Finally, the effectiveness and realizability of the controller are verified by virtual simulation and experimental results.

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Funding

The research is supported by Key Laboratory of Construction Hydraulic Robots of Anhui Higer Education Institutes, Tongling University(Grant No.TLXYCHR-O-21ZD01). The research is supported by National Natural Science Foundation of China, Grant/Award Number: 52175083. The research is supported in part by The Pioneer Program Project of Zhejiang Province(Grant No. 2022C03018). The research is supported in part by The University Synergy Innovation Programof Anhui Province under Grant (Grant No.GXXT-2021-010). The research is supported in part by Key Research and Development Program of AnHui Province(Grant No. 2022a05020014).

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Authors and Affiliations

  1. School of Mechanical Engineering, Hefei University of Technology, Hefei, Anhui, 230009, PR China

    ShengChao Zhen & Yangyang Li

  2. School of Artificial Intelligence, Anhui University, Hefei, Anhui, 230601, PR China

    XiaoLi Liu

  3. Engineering Research Center of Autonomous Unmanned System Technology, Ministry of Education, Anhui University, Hefei, Anhui, 230601, PR China

    XiaoLi Liu

  4. AnHui Provincial Engineering Research Center for Unmanned System and Intelligent Technology, Anhui University, Hefei, Anhui, 230601, PR China

    XiaoLi Liu

  5. The Geroge W.Woodrufi School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, Georgia, 30332, USA

    Ye-Hwa Chen

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  1. ShengChao Zhen
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Contributions

All authors contributed to the study conception and design. Material preparation, data collection and analysis were performed by Yangyang Li, Shengchao Zhen and Xiaoli Liu. The first draft of the manuscript was written by Yangyang Li and all authors commented on previous versions of the manuscript. All authors read and approved the final manuscript.

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Correspondence to XiaoLi Liu.

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Zhen, S., Li, Y., Liu, X. et al. A Practical Model-Based Robust Control for the Modular Joint of Collaborative Robots. J Intell Robot Syst 108, 81 (2023). https://doi.org/10.1007/s10846-023-01914-2

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