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A Modified Robotic Manipulator Controller Based on Bernstein-Kantorovich-Stancu Operator.

Qianqian Zhang1, Mingye Mu2, Xingyu Wang3

  • 1Philips Health Technology (China) Co., Ltd. Shenyang Branch, Shanghai 200233, China.

Micromachines
|January 21, 2023
PubMed
Summary

This study introduces a new robotic manipulator controller using the Bernstein-Kantorovich-Stancu (BKS) operator to enhance control accuracy amidst complex disturbances and noise. The improved controller effectively suppresses external interference, making BKS operator application feasible in manipulator servo systems.

Keywords:
Bernstein–Kantorovich–Stancu operatorend effectorsfull order observerrobotic manipulatorrobotics

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Area of Science:

  • Robotics
  • Control Systems Engineering
  • Mechatronics

Background:

  • Robotic manipulators are increasingly vital in intelligent manufacturing and mechatronics.
  • Complex noises and external disturbances degrade manipulator servo system control accuracy.
  • Existing control methods struggle with coupled disturbances and computational complexity.

Purpose of the Study:

  • To propose a modified robotic manipulator controller for improved error tracking accuracy.
  • To address challenges posed by complex disturbances and noise in manipulator control.
  • To reduce computational complexity in observing and compensating for external disturbances.

Main Methods:

  • Introduction of the Bernstein-Kantorovich-Stancu (BKS) operator into the manipulator controller.
  • Design of an improved full-order observer to handle coupled external disturbances.
  • Integration of the BKS operator and observer to simplify controller parameters and algorithm complexity.

Main Results:

  • The modified controller effectively suppresses external disturbances and noise.
  • The improved observer design reduces computational load by simplifying parameters.
  • Theoretical analysis and simulation tests validate the controller's performance.

Conclusions:

  • The proposed manipulator controller enhances tracking accuracy in the presence of complex disturbances and noise.
  • The integration of the BKS operator offers a feasible and effective approach for manipulator servo system control.
  • The developed method simplifies algorithms and reduces computational complexity, paving the way for more robust robotic systems.