Robust Tracking Control for Constrained Robots

TL;DR

This paper introduces a robust control method for constrained robots operating in unknown stiffness environments, ensuring stability and safety through Lyapunov-based analysis and experimental validation on a robotic arm.

Contribution

A novel robust tracking control law for constrained robots in unknown environments, with proven stability and robustness using Lyapunov methods.

Findings

Proven stability and robustness of the control law.

Validated safety and performance on a 3DOF robotic arm.

Effective handling of unknown environmental stiffness.

Abstract

In this paper, a novel robust tracking control law is proposed for constrained robots under unknown stiffness environment. The stability and the robustness of the controller are proved using a Lyapunov-based approach where the relationship between the error dynamics of the robotic system and its energy is investigated. Finally, a 3DOF constrained robotic arm is used to prove the stability, the robustness and the safety of the proposed approach.