Application of the Universal Motion Controller to 6-DOF Robotic Manipulator

The paper presents the application of the universal motion controller to a 6-DOF robotic manipulator in a realistic simulation environment within the Robot Operating System (ROS). This approach addresses the limitations of earlier simulation methods. ROS allows for the measurement of interaction forces, a feature significant for validating the universal motion controller. This evaluation represents a crucial step toward bridging the gap between simulation and real-world implementation on robotic systems, highlighting the controller's robustness and adaptability under realistic conditions. Two control laws are implemented: one featuring exponential convergence and the other finite-time convergence. Furthermore, a method for managing both redundant and non-redundant tasks is utilized. The control code is written in discrete time using C++, which is particularly significant due to its ease of implementation on hardware systems.