Adaptive Control Technique Effects on Single Link Bilateral Articulated Robot Arm

This paper describes a technique for addressing the issue of instability within force controller by developing a model of a bilateral master-slave haptic system that incorporates a Disturbance Observer (DOB) in a robotic simulation. The suggested modeling is used in conjunction with conventional controllers to be correcting undesired noise that occurs inside the working system of a particular joint of the youBot arm. To acquire the target position, the controller will additionally compensate for interference by changing its position response. Two tests were carried out to examine and compare the system’s feedback that employed the proposed approach and another system with the conventional and standard-setting. The experimental findings demonstrate the resilience of the suggested system, as the system integrated with observers is more precise and faster. All of the system feedbacks from conducted experiments are measured in the simulation platform.

@article{Mansor2021,
  title     = {Adaptive Control Technique Effects on Single Link Bilateral Articulated Robot Arm},
  journal   = {International Journal of Advanced Computer Science and Applications},
  volume    = {12},
  number    = {7},
  year      = {2021},
  publisher = {The Science and Information Organization},
  author    = {Nuratiqa Natrah Mansor and Muhammad Herman Jamaluddin and Ahmad Zaki Shukor},
  doi       = {10.14569/IJACSA.2021.0120759},
  url       = {https://doi.org/10.14569/IJACSA.2021.0120759}
}