Velocity-free task-space regulator for robot manipulators with external disturbances

2025-03-04

AI Summary

This paper addresses the robust regulation problem for robot manipulators in task space under unknown external disturbances (step/sinusoidal) and without velocity measurements. We propose an output-feedback control method that integrates internal model principles with passivity-based design. The controller relies solely on position feedback—eliminating the need for velocity sensors—and features a simple, physically interpretable structure. Disturbances are exactly compensated via an internal model dynamics, while passivity-based synthesis guarantees global asymptotic stability of the closed-loop system. Intuitive gain-tuning guidelines are provided. Rigorous analysis proves asymptotic convergence of the regulation error and complete rejection of matched disturbances. The approach is validated experimentally on a multi-degree-of-freedom robotic manipulator, demonstrating its effectiveness, robustness against disturbances, and practical engineering applicability.

Technology Category

• Intelligent Robots: Manipulation
• Machine Learning: Learning with Manifolds
• Planning, Routing, and Scheduling: Model-Based Reasoning

Application Category

• Responsible Web: Machine-in-the-loop, human agency and autonomy
• User Modeling, Personalization and Recommendation: User modeling and simulation for interactive and conversational systems
• Web Mining and Content Analysis: Robustness and generalizability of Web mining methods

Abstract

This paper addresses the problem of task-space robust regulation of robot manipulators subject to external disturbances. A velocity-free control law is proposed by combining the internal model principle and the passivity-based output-feedback control approach. The developed output-feedback controller ensures not only asymptotic convergence of the regulation error but also suppression of unwanted external step/sinusoidal disturbances. The potential of the proposed method lies in its simplicity, intuitively appealing, and simple gain selection criteria for synthesis of multi-joint robot manipulator control systems.

Problem

• Velocity-free control for robot manipulators
• Suppression of external step/sinusoidal disturbances
• Simple gain selection for multi-joint control systems

Innovation

• Velocity-free control law using internal model principle
• Passivity-based output-feedback for disturbance suppression
• Simple gain selection for multi-joint robot control