Robust Controller Design for Robot Joint Motor Modules Based on Dynamical Model

被引：0
|
作者：
Chen, Xiaofei [1 ]
Zhao, Han [1 ]
Cheng, Junhui [2 ]
机构：
[1] Hefei Univ Technol, Sch Mech Engn Coll, He Fei 230000, Peoples R China
[2] West Anhui Univ, Sch Elect & Optoelect Engn, Luan 237012, Peoples R China
来源：
IEEE TRANSACTIONS ON APPLIED SUPERCONDUCTIVITY | 2024年 / 34卷 / 08期
关键词：
Motors; Mathematical models; Uncertainty; Superconductivity; Torque; Steady-state; PD control; Dynamical model; motor modules; robot; robust controller;
D O I：
10.1109/TASC.2024.3465448
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
The joint motor module, being a pivotal component of collaborative robots, exerts a direct and substantial influence on the overall performance of the robot. This research endeavors to develop an innovative model-based robust controller aimed at enhancing control accuracy and the dynamic response of joint motor modules. Commencing with the dynamic model of the joint motor modules, we devised the controller and verified its stability through theoretical analysis. A MATLAB simulation of position step response and sinusoidal signal tracking is used to compare how well the new rubber controller, the model-based proportion controller, and the standard PID controller work. The simulations clearly show that the newly designed robust controller is better than others in terms of dynamic response and steady-state error reduction. This makes it a clever way to control joint motor modules with high precision and keep the system stable.
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页数：5
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