Robust Approximate Constraint-Following Control Desigh for two-link robotic manipulator system

In our paper, we suggest a unique control method for enhancing trajectory tracking accuracy in a two-link robotic manipulator system, even when faced with uncertainties such as non-linear and time-varying parameters of the mechanical system and external disturbances. The fundamental equation of the Udwadia-Kalaba technique serves as the foundation for our proposed strategy.The control method that follows constraints approximately and is robust in nature has been developed for the purpose of controlling a cooperative robots.By changing the binding formula into the second-order type and applying a generalized binding force to the free of system, the dynamic equation may be constructed. By doing so, we can take the impacts of the constraint into account and get a more realistic picture of dynamics of the system.We use the dynamic equation and carry out robust approximate constraint-following servo control to describe performance needs as servo constraints. We validate the efficacy of the controller by deploying it on a two-link robotic manipulator system and evaluating its performance.This enables us to verify the efficiency of the proposed approach and evaluate its capability to enhance trajectory tracking precision and overall system performance.