Control Gain Determination Method for Robust Time-Delay Control of Industrial Robot Manipulators Based on an Improved...

Area of Science:

• Robotics
• Control Systems Engineering
• Industrial Automation

Background:

• Robotic manipulators require high-precision control for industrial manufacturing efficiency.
• Nonlinear dynamics, time-varying characteristics, and external noise complicate accurate robotic control and state estimation.
• Conventional time-delay control methods face challenges in computational intensity for gain determination and effective noise suppression.

Purpose of the Study:

• To propose a robust time-delay control strategy for robotic manipulators.
• To develop an improved state observer for accurate state estimation and noise suppression.
• To enhance trajectory tracking accuracy and overall control performance in industrial robotic systems.

Main Methods:

• Derivation of a linearized dynamic model for robotic manipulators.
• Development of an offline computation scheme for simplified control gain determination.
• Integration of model reference estimation with noise suppression techniques in a novel state observer.

Main Results:

• The proposed method efficiently determines control gains without additional tuning parameters.
• The improved state observer accurately acquires joint states, even under noisy conditions.
• Experimental validation demonstrates superior trajectory tracking accuracy and control performance compared to existing methods.

Conclusions:

• The novel time-delay control strategy effectively addresses challenges in robotic manipulator control.
• The integrated state observer significantly improves robustness and state estimation accuracy.
• The developed approach offers a more efficient and effective solution for high-precision industrial robotic applications.