Projects Robot Simulation Part V: 6-DOF Manipulator Robust Inverse Dynamic Control

Part V: 6-DOF Manipulator Robust Inverse Dynamic Control

Last Updated on Friday, 28 October 2011 13:02 Written by Administrator Thursday, 17 June 2010 08:19

In the real control system, uncertainties are unavoidable. The uncertainty can be classified into two categories: disturbance signals and dynamic perturbations. The former includes input and output disturbance, sensor noise and actuator noise,...The latter represents the discrepancy between the mathematical model and the actual dynamics of the system in operation. A mathematical model of any real system is always just an approximation of the true, physical reality of the system dynamics. Typical sources of the discrepancy include unmodelled (usually high-frequency ) dynamics, neglected nonlinearities in the modelling, effects of deliberate reduced-order models, and sytem-parameter variations due to environmental changes and torn-and-worn factors. These modelling errors may adversely affect the stability and performance of a control system.

       This tutorial is concerned with the robust motion control system. The goal of robust control is to maintain performance in terms of stability, tracking error, or other specifications despite parametric uncertainty, external disturbances, unmodeled dynamics, or other uncertainties present in the system. 
     The robust control is a fixed controller designed to satisfy performance specifications over a given range of uncertainties. 
•Trajectory: [0 0 0 0 0 0] to [pi pi/2 -pi/2 pi/4 pi/4 pi], t= 3s
•Control Law :

•Parameter of Controller:
•Controller Model:
• Trajectory & Response of qi
   The dynamic parameters ( link mass and inertia ) 

Simulation
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