{"title":"Robust Controller Design for Robot Joint Motor Modules Based on Dynamical Model","authors":"Xiaofei Chen;Han Zhao;Junhui Cheng","doi":"10.1109/TASC.2024.3465448","DOIUrl":null,"url":null,"abstract":"The joint motor module, being a pivotal component of collaborative robots, exerts a direct and substantial influence on the overall performance of the robot. This research endeavors to develop an innovative model-based robust controller aimed at enhancing control accuracy and the dynamic response of joint motor modules. Commencing with the dynamic model of the joint motor modules, we devised the controller and verified its stability through theoretical analysis. A MATLAB simulation of position step response and sinusoidal signal tracking is used to compare how well the new rubber controller, the model-based proportion controller, and the standard PID controller work. The simulations clearly show that the newly designed robust controller is better than others in terms of dynamic response and steady-state error reduction. This makes it a clever way to control joint motor modules with high precision and keep the system stable.","PeriodicalId":13104,"journal":{"name":"IEEE Transactions on Applied Superconductivity","volume":"34 8","pages":"1-5"},"PeriodicalIF":1.7000,"publicationDate":"2024-09-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE Transactions on Applied Superconductivity","FirstCategoryId":"101","ListUrlMain":"https://ieeexplore.ieee.org/document/10685017/","RegionNum":3,"RegionCategory":"物理与天体物理","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"ENGINEERING, ELECTRICAL & ELECTRONIC","Score":null,"Total":0}
引用次数: 0
Abstract
The joint motor module, being a pivotal component of collaborative robots, exerts a direct and substantial influence on the overall performance of the robot. This research endeavors to develop an innovative model-based robust controller aimed at enhancing control accuracy and the dynamic response of joint motor modules. Commencing with the dynamic model of the joint motor modules, we devised the controller and verified its stability through theoretical analysis. A MATLAB simulation of position step response and sinusoidal signal tracking is used to compare how well the new rubber controller, the model-based proportion controller, and the standard PID controller work. The simulations clearly show that the newly designed robust controller is better than others in terms of dynamic response and steady-state error reduction. This makes it a clever way to control joint motor modules with high precision and keep the system stable.
期刊介绍：
IEEE Transactions on Applied Superconductivity (TAS) contains articles on the applications of superconductivity and other relevant technology. Electronic applications include analog and digital circuits employing thin films and active devices such as Josephson junctions. Large scale applications include magnets for power applications such as motors and generators, for magnetic resonance, for accelerators, and cable applications such as power transmission.
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