A New Augmented RISE Feedback Controller for Pick-and-Throw Applications with PKMs

Most of the current industrial applications (like food packaging, waste sorting, machining, etc.) use parallel kinematic manipulators (PKMs) owing to their high speed and accuracy. However, robots are exposed highly nonlinear dynamics, time-varying parameters uncertainties, especially in those applications. Considering all these issues, synthesis advanced robust control schemes for PKMs is considered a challenging task. A new scheme based on Robust Integral Sign Error (RISE) proposed this work. revision standard RISE law by considering, loop, compensation term computed from dynamic model robot, measured desired trajectories, tracking error. In addition, we propose extend resulting controller with feedback function compensate errors using trajectories instead ones term. The contribution can PKM parameter uncertainties nonlinearities as well improve robustness controller. Numerical simulations have been conducted called T3KR, pick-and-throw task under different operating conditions confirm effectiveness scheme.