Robust Control of Electrically Driven Robots in the Task Space

In this paper, a task-space controller for electric ally driven robot manipulators is developed using a robust control algorithm. The controller is designe d using voltage control strategy. Based on the nominal model of the robotic arm, the desired signa ls for motor currents are calculated and then the voltage control law is proposed based on the curren t errors and motor nominal electrical model. Uncertainties such as parametric uncertainties, ext ernal 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.

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