Evaluation and Investigation of the Effect of Robust Adaptive Control in Increasing the Tracking Accuracy of Industrial Robots

In this article, a robust adaptive control method is presented in a principled manner in order to significantly reduce the relative tracking errors of six degrees of freedom industrial robots under external disturbances and parametric uncertainty. A robust adaptive control law is formulated based on the robot dynamics in the workspace of the robot wrist (end-effector). The control law is designed by combining the strong term and the adaptive term to trace the designed path of the robot wrist with appropriate reliability and accuracy in the presence of unknown external disturbances and parametric uncertainty. In the end, the proposed control is guaranteed to implement the path tracking based on the Lyapunov function and Barbalat’s lemm. In addition, online persistent parametric adaptive law is proposed to evaluate the unknown parameters in the control law based on persistent excitation and residual estimation. The experimental results show that the robust adaptive control significantly reduces the tracking errors of the final path compared to the conventional control.

کلیدواژه ها:

۶ DOF industrial robots ، Workspace ، Robust adaptive control ، Parametric adaptation ، Relative tracking errors