A leakage-type adaptive robust control for constrained joint modules in collaborative robotics via the Udwadia-Kalaba equation

Abstract This endeavor encompasses establishing a dynamic model for a constrained joint module system in collaborative robots, predicated upon the Udwadia-Kalaba equation and constraint-following methodologies. Additionally, a leakage-type adaptive robust controller is developed to assuage uncertainties and disturbances. The structure of the dynamic model is methodically crafted, accommodating uncertain parameters to delineate the behavioral dynamics of the system. Furthermore, a meticulous derivation of a second-order representation of the constraint equations is undertaken to facilitate precise boundaries of the limitations imposed by the system. The proposed controller demonstrates adeptness in tailoring its strategies to the characteristics of both known and unknown attributes of the system, deftly navigating the intrinsic uncertainties of the system. Systematic simulations and empirical analyses have been performed to authenticate the efficacy of the advocated approach in regulating the joint module system. The research outcomes not only augment comprehension of robust control techniques for joint module systems but also furnish invaluable insights to propel future advancements within this specialized domain.