STUDY ON ROBOT MANIPULATOR USING (REAL-TIME) NONLINEAR CONTROL-SIMULATION OF ROBOT MANIPULATOR UNDER DISTURBANCE

Abstract

Robot manipulator is currently essential as human assistant. While performing their tasks, the robot leaved its well structured environment and confronted with unexpected disturbances. The conventional linear control system is insufficient to guarantee the prescribe performance of the robot manipulator when unknown external disturbance is considered. Thus, implementing a nonlinear control system is essential to guarantee the performance of the desired tasks. Firstly, the proportional, integral and derivative (PID) controller will be tested and the restriction of the linear control system is studied. Then, two type of nonlinear controller the PID computed torque control (PIDCTC) and Sliding mode computed torque control (SMCTC) are implemented. From the result, the optimal variable value is determined and performances of three controllers are compared.