|Enhanced Robust Motion Tracking Control for 6 Degree-of-freedom Industrial Assembly Robot with Disturbance Adaption
Li Pan, Tao Gao, Fang Xu, and Libin Zhang*
International Journal of Control, Automation, and Systems, vol. 16, no. 2, pp.921-928, 2018
Abstract : "Industrial assembly robots are designed to enable accurate and repeatable tracking of the positions and
orientations of the robot’s end-effector and are hence often required to perform complex tasks within uncertain
environments. Therefore, trajectory tracking control is vital to the wide range of applications of industrial robotic
systems. This paper presents an enhanced robust motion tracking controller with disturbance adaption for trajectory
tracking control of industrial assembly robot. The dynamics of the industrial assembly robotic system is formulated
in the working space of the end-effector and the tracking control problem is then formulated. The enhanced robust
motion tracking control is synthesized by using disturbance adaption and modified iterative control terms, which is
a refined version of conventional robust adaptive control with only disturbance rejection. The capability and effectiveness
of the enhanced robust motion tracking control have been evaluated based on an industrial robotic platform.
The comparative results clearly show that the proposed control can be used to better minimize the trajectory tracking
errors in finite time as compared with conventional proportional derivative control."
"Comparative results, disturbance adaption, industrial assembly robot, iterative control, trajectory tracking control."
Download PDF : Click this link