Optimal and Robust Control of Multi DOF Robotic Manipulator: Design and Hardware Realization
2018
ABSTRACTRobots have become an integral part of industrial automation. Their ultimate role and contribution in this sector is essentially a function of the associated control strategy to ensure precision, repeatability, and reliability, particularly in an environment polluted with disturbances and uncertainties. This research aims to present a design of the modern control strategies for a 6 degree of freedom robotic manipulator. Based on derived kinematic and dynamic models of the robot, optimal and robust control strategies are simulated and practically realized on a custom developed pseudo-industrial framework named as AUTonomous Articulated Robotic Educational Platform. Results of the experimental trials in terms of trajectory tracking demonstrate efficiency and usefulness of the presented control approaches.
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