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<p>Rapid adoption of industrial robots in manufacturing highlights their critical role in achieving high productivity and precision while minimizing errors and physical strain on workers. Among these, industrial serial robots, such as SCARA manipulators, are widely implied for tasks requiring speed and accuracy, including assembly and material handling. This study presents a robust two stage trajectory tracking control scheme designed for a SCARA type robot manipulator. The approach addresses uncertainties in payload mass, external disturbances, and system dynamics. In first stage, optimal control is applied to quasilinear nominal model drive through Taylor series approximation, following Lin’s robust control frame work. The second stage incorporated an integral sliding mode controller ISMC to enhance the robustness against bounded disturbances and the system nonlinearities. The stability of the proposed method is rigorously validated using the Lyapunov function, while a boundary layer approach mitigates chattering effects and control inputs. Numerical simulation conducted on a 2-DoF SCARA manipulator demonstrate effective trajectory tracking under varying payload masses and external disturbances. The results affirm the proposed method capability to deliver robust and efficient trajectory tracking control for industrial robotic applications.</p>

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Robust Trajectory Tracking Control in Two Stages of a Robot Manipulator in Quasi Linearization Form

  • 期刊论文

  • 发表日期：

    2025年8月7日

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  • Irfan Ali,
  • Zarqa Bano,
  • Lyu Guanghua,
  • Ghulam E Mustafa Abro,
  • Syed Hadi Hussain Shah

摘要

Rapid adoption of industrial robots in manufacturing highlights their critical role in achieving high productivity and precision while minimizing errors and physical strain on workers. Among these, industrial serial robots, such as SCARA manipulators, are widely implied for tasks requiring speed and accuracy, including assembly and material handling. This study presents a robust two stage trajectory tracking control scheme designed for a SCARA type robot manipulator. The approach addresses uncertainties in payload mass, external disturbances, and system dynamics. In first stage, optimal control is applied to quasilinear nominal model drive through Taylor series approximation, following Lin’s robust control frame work. The second stage incorporated an integral sliding mode controller ISMC to enhance the robustness against bounded disturbances and the system nonlinearities. The stability of the proposed method is rigorously validated using the Lyapunov function, while a boundary layer approach mitigates chattering effects and control inputs. Numerical simulation conducted on a 2-DoF SCARA manipulator demonstrate effective trajectory tracking under varying payload masses and external disturbances. The results affirm the proposed method capability to deliver robust and efficient trajectory tracking control for industrial robotic applications.