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Manipulators are multi-rigid-body systems composed of multiple moving joints. During movement, the Coriolis force, centrifugal force, and gravity of the system undergo significant changes. The last three degrees of freedom (DOFs) of the wrist joint of a manipulator control the end attitude. Improving the command tracking accuracy of the wrist joint is a key challenge in controlling the end attitude of manipulators. In this study, a dynamics model of the mechanical arm–wrist joint is established based on the Lagrange method. An adaptive continuous robust integral of the sign of the error (ARISE) controller is designed using the reverse step method. Additionally, a linear extended state observer (LESO) is employed to estimate the time-varying interference existing in the system and compensate for it in the designed control rate. The stability of the Lyapunov function and the boundedness of the observer are proven. The proposed control method for the wrist joint is compared with other controllers on an experimental platform of multi-DOF hydraulic manipulators. The results demonstrate that the proposed method improves the control performance of hydraulic manipulators. The application of this method offers a new strategy and idea for achieving high-performance tracking control in hydraulic manipulators.
Mi et al. (Tue,) studied this question.