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Robust task-space control of robot manipulators using Legendre polynomials for uncertainty estimation

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Abstract

This paper deals with the robust task-space control of electrically driven robot manipulators using voltage control strategy. In conventional robust control approaches, the uncertainty bound is needed to design the control law. Usually, this bound is proposed conservatively which may increase the amplitude of the control signal and damage the system. Moreover, calculation of this bound requires some feedbacks of the system states which providing them may be expensive. The novelty of this paper is proposing a robust control law in which the uncertainty bound is calculated by Legendre polynomials. Compared to conventional robust controllers, the proposed controller is simpler, less computational and requires less feedbacks. Simulation results and comparisons verify the effectiveness of the proposed control approach applied on a SCARA robot manipulator driven by permanent magnet DC motors.

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Authors and Affiliations

  1. Department of Electrical and Robotic Engineering, Shahrood University, University Street, PO Box 316, 3619995161, Shahrood, Iran

    Saeed Khorashadizadeh & Mohammad Mehdi Fateh

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  1. Saeed Khorashadizadeh
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  2. Mohammad Mehdi Fateh
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Correspondence to Mohammad Mehdi Fateh.

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Khorashadizadeh, S., Fateh, M.M. Robust task-space control of robot manipulators using Legendre polynomials for uncertainty estimation. Nonlinear Dyn 79, 1151–1161 (2015). https://doi.org/10.1007/s11071-014-1730-5

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  • DOI: https://doi.org/10.1007/s11071-014-1730-5

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