Robust Artificial Delay based Impedance Control of Robotic Manipulators with Uncertain Dynamics

TL;DR

This paper introduces a robust impedance control method for robotic manipulators with uncertain dynamics, combining time delayed estimation and a super twisting algorithm to improve accuracy and robustness during contact and free motion.

Contribution

It proposes a novel control law that integrates TDE with a second order switching controller using GFTE, enhancing robustness against model uncertainties and TDE errors.

Findings

Successful simulation on a two-link manipulator demonstrates effectiveness.

The control law maintains desired impedance during contact and free motion.

Convergence analysis confirms stability and robustness.

Abstract

In this paper an artificial delay based impedance controller is proposed for robotic manipulators with uncertainty in dynamics. The control law unites the time delayed estimation (TDE) framework with a second order switching controller of super twisting algorithm (STA) type via a novel generalized filtered tracking error (GFTE). While time delayed estimation framework eliminates the need for accurate modelling of robot dynamics by estimating the uncertain robot dynamics and interaction forces from immediate past data of state and control effort, the second order switching control law in the outer loop provides robustness against the time delayed estimation (TDE) error that arises due to approximation of the manipulator dynamics. Thus, the proposed control law tries to establish a desired impedance model between the robot end effector variables i.e. force and motion in presence of uncertainties, both when it is encountering smooth contact forces and during free motion. Simulation results for a two link manipulator using the proposed controller along with convergence analysis are shown to validate the proposition.