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

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. [ABSTRACT FROM AUTHOR]