Terminal Traction Control of Teleoperation Manipulator With Random Jitter Disturbance Based on Active Disturbance Rejection Sliding Mode Control

The present study proposes an active disturbance rejection sliding mode traction control system to deal with the dramatic change of joint angular acceleration and jitter attributed to non-uniform traction during terminal traction of the manipulator based on the use of human-computer interaction (HCI) device, as well as achieve the high-precision and high-speed terminal traction control. First, the traction trajectory generated by the HCI device is mapped into the motion space of the manipulator, and a low-pass filter is employed to filter out the high-frequency noises attributed to non-uniform traction. Second, the corresponding joint solution of the traction trajectory is solved by using the inverse kinematics algorithm. Then the nonlinear and strongly coupled manipulator is linearly decoupled. Lastly, the effect of non-uniform traction on the manipulator's joints is considered as interference, and an active disturbance rejection sliding mode controller is introduced for each joint. To reduce the chattering, the output torque of the controller is processed with a low-pass filter. The stability of the controller is proved with the Lyapunov method. To verify the traction effect of the traction control system and its anti-interference ability for non-uniform traction, the trajectory tracking experiment with random jitter and the real terminal traction control experiment is performed on the UR5 manipulator in the virtual robot experiment platform. As revealed from the experimentally achieved results, the proposed controller can significantly limit the effect of non-uniform traction on each joint of the manipulator and achieve the fast, stable, and high-precision terminal traction control of the manipulator by the HCI device.