Robust trajectory tracking control of a 6-DOF robotic crusher based on dynamic compensation

A robust controller is developed for the trajectory tracking control of a 6-DOF robotic crusher in task space. Firstly, dynamic model including mantle assembly and actuators derived by Lagrange method according to virtual work principle. In order simulate crushing behavior cone chamber, achieved ADAMS. Then, which contains compensation designed, convergence stability strictly proved based on Lyapunov theory. Finally, co-simulation used verify that proposed can solve problem uncertainties external disturbances well. Meanwhile, numerical simulation results illustrate able effectively reduce errors compared with computed torque controller.