Abstract
This paper is focused on the comparison between two robust control schemes applied to PUMA 560 robot arm. The inner control loop is designed basing on the so-called computed torque technique. Concerning the outer loop, we have first proposed a nonlinear controller; the robust stability and desired position tracking are guaranteed using Lyapunov formulation. In the second approach, we have developed an active disturbance rejection controller for the outer loop; this controller is based on a nonlinear observer used for estimating and then compensating the residual uncertainties of the linearized manipulator.
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Acknowledgements
This work was supported by the state assignment of Ministry of Science and Higher Education of the Russian Federation (No. 0625-2020-0017).
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Medjebouri, A., Inel, F., Rybak, L.A., Carbone, G. (2021). Robust Control Strategies of Puma 560 Robot Manipulator. In: Niola, V., Gasparetto, A. (eds) Advances in Italian Mechanism Science. IFToMM ITALY 2020. Mechanisms and Machine Science, vol 91. Springer, Cham. https://doi.org/10.1007/978-3-030-55807-9_25
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DOI: https://doi.org/10.1007/978-3-030-55807-9_25
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