A robust control method for robots

robots;  Robust control;  PDFSV control

By using PID and PDFSV control for a three-degree-of-freedom manipulator, the application of PDFSV method in robot position control is introduced. Simulate the coefficients of each order and the addition step and sinusoidal interference of the controlled object, and analyze them theoretically. The results show that the control method has simple design, fast response speed, and no overshoot, and its control form is suitable for the needs of the robot, and its good robustness can make up for the nonlinear factors and inter-joint coupling of the manipulator. Only position and velocity feedback signals are required to control position, velocity and acceleration. At the same time, the small amount of calculation in the control is also conducive to its practical application.