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Robust approximate constraint following control design for collaborative robots system and experimental validation

Published online by Cambridge University Press:  03 January 2025

Haohua Liu ,
Shengchao Zhen Open the ORCID record for Shengchao Zhen [Opens in a new window] ,
Xiaoli Liu Open the ORCID record for Xiaoli Liu [Opens in a new window] ,
Hongmei Zheng ,
Liansheng Gao  and
Ye-Hwa Chen
Haohua Liu
Affiliation:
School of Mechanical Engineering, Hefei University of Technology, Hefei, Anhui 230009, PR China
Shengchao Zhen*
Affiliation:
School of Mechanical Engineering, Hefei University of Technology, Hefei, Anhui 230009, PR China Intelligent Manufacturing Institute Of Hefei University Of Technology, Hefei, Anhui 230051, PR China
Xiaoli Liu
Affiliation:
School of Artificial Intelligence, Anhui University, Hefei, Anhui 230601, PR China
Hongmei Zheng
Affiliation:
School of Mechanical Engineering, Hefei University of Technology, Hefei, Anhui 230009, PR China
Liansheng Gao
Affiliation:
Hangzhou Huger Medical Robotics Co., Ltd., Hangzhou, Zhejiang 310002, PR China
Ye-Hwa Chen
Affiliation:
The George W. Woodruff School of Mechanical Engineering Georgia Institute of Technology, Atlanta, Georgia 30332, USA
*
Corresponding author: Shengchao Zhen; Email: [email protected]
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Abstract

The paper presents a novel control method aimed at enhancing the trajectory tracking accuracy of two-link mechanical systems, particularly nonlinear systems that incorporate uncertainties such as time-varying parameters and external disturbances. Leveraging the Udwadia–Kalaba equation, the algorithm employs the desired system trajectory as a servo constraint. First, the system’s constraints to construct its dynamic equation and apply generalized constraints from the constraint equation to an unconstrained system. Second, we design a robust approximate constraint tracking controller for manipulator control and establish its stability using Lyapunov’s law. Finally, we numerically simulate and experimentally validate the controller on a collaborative platform using model-based design methods.

Keywords

robust controlU–K equationLyapunov methodnonlinear controlconstraint followingcollaborative robots
Type
Research Article
Information
Robotica , Volume 42 , Issue 11 , November 2024 , pp. 3957 - 3975
Copyright
© The Author(s), 2025. Published by Cambridge University Press

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