Robot Arm Motion Control System Design based on Double Active Disturbance Rejection Method

In order to decouple and reject the disturbance from multi-connected system, this paper presents a composite controller based on the disturbance compensator and state feedback control. We developed a dynamic model of a 2DOF robot system, and analyzed the system characteristics with disturbances which are made by each arm motion control. For this system, the authors propose a new decoupling method through regarding the coupling term as systems disturbance. The system disturbances were considered as known uncertainty and modelled by experiment. In this study, a disturbance compensator for rejecting the known disturbance and robust feedback controller for coping the unpredictable uncertainties are provided. We concluded from simulation results that the proposed method was effective in decoupling and disturbance compensation control of 2DOF robot system, and enhanced system disturbance rejection and motion control performance.