Design of an active disturbance rejection control for the ED-7220C robot arm

Abstract

Nowadays, the vast majority of Industrial applications use industrial robot arms which impose the improvement and development of the control techniques that concerns robot manipulators systems. There are many control techniques that can be applied to do the control of manipulators. One of the control strategies is to deal with each joint of the manipulator as a single input/single output (SISO) system, i.e. decoupling the robotic system. This project reports the design of a decoupling control for the ED-7220C 5-axes robot arm position. The biggest challenge in this control problem is the absence of a practical dynamic model to be used in the control due to the lack of information about the physical parameters of this robot arm. Hence model based control techniques will most probably fail in achieving the goal of this project. The solution was to think of a model free control technique. One of the most recent model free control techniques is the extended state observer (ESO) based active disturbance rejection control (ADRC). In this project ESO based ADRC technique has been designed to control the ED-7220C robot manipulator.