The Design and Simulation for Two-Link Manipulators PD Robust Controller under Uncertain Upper Bound Disturbance

Ji Yan Wang

doi:10.4028/www.scientific.net/AMR.694-697.1652

Paper Titles

Manipulator Joints Servo Motor Control Strategy
p.1629

Structural Model and Gait of Quadruped Robotic Horse
p.1634

Structure and Hydrodynamics Optimizations of Landing Autonomous Underwater Vehicle
p.1641

Study on the Design of Particle Removal System for Autonomous Robotic Vehicle
p.1646

The Design and Simulation for Two-Link Manipulators PD Robust Controller under Uncertain Upper Bound Disturbance
p.1652

A Collision-Free Trajectory Planning Method for Redundant Manipulator Spraying for Inner Surface of Pipe
p.1656

A Multi-DOF Robotic Arm Manipulator Simulation and Visualization Platform
p.1662

Study on the Wheeled Robot Collision Avoidance Based on Fuzzy Control
p.1667

Study on Interference between Wires and Mobile Platform in a Wire-Driven Parallel Manipulator Based on ADAMS
p.1671

HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 694-697The Design and Simulation for Two-Link...

The Design and Simulation for Two-Link Manipulators PD Robust Controller under Uncertain Upper Bound Disturbance

Abstract:

PD control method is widely utilized for the dynamic characteristics controlling in industrial robot manipulator area. The disturbance is usually uncertain in reality; the traditional PD controller is limited in that case. In this paper, a PD robust controller is introduced to optimize the convergence and stability of PD controller and avoid the extreme initial driving torque for two-link manipulator system. Using the co-simulation on Matlab/ Simulink and ADAMS, the paper designs a PD robust controller under uncertain upper bound disturbance and completes track control and driving torque simulation trial. The superiority of the two-link manipulators PD robust controller is verified through result comparison and analysis.