The robustness analysis of two motion control algorithms for Stäubli TX40 robot in object manipulation task

摘要

This paper presents a robustness comparison between two motion control schemes for a 6DOF robot manipulator under uncertainty conditions. A conventional model-free PID controller and a model-based feedforward approach as two applicable control algorithms used in industrial robots are considered. We study the robustness performance of these algorithms when the dynamical model of Stäubli TX40 robot is changing. This may arise either because the robot is carrying an unknown load or is affected by external disturbances. Simulations are presented to show the performance of each algorithm in the presence of disturbance and in object manipulation task along a desired trajectory.