Design of Disturbance Observer for Industrial Robot and Robust Control of Online Compensation
According to the demand of the current industrial market,a disturbance observer and online compensation robust control method for industrial robots are designed to improve work efficiency.Based on the above model,a second-order perturbator and a robust regulator are established to improve the positioning accuracy by COMAU disturbance tracking.The results show that the DOBC online compensation method makes the robot more robust by efficiently identifying the disturbance features to achieve accurate location tracking and significantly improve the difficulty of trajectory tracking.By analyzing the tracking error modulus,the closed-loop robust control algorithm based on perturbation observer in this paper can obtain higher absolute positioning accuracy.
industrial robotonline compensationdisturbance observer,sliding mode control
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