Two-stage control approach of a robot manipulator for conveyor tracking application

A robot control scheme for the specific application to conveyor tracking is newly proposed. To improve the performance of conveyor tracking, the robot arm dynamics is incorporated into the control scheme. The proposed scheme also takes the torque and smoothness constraints into account for optimal conveyor-tracking. Dividing the conveyor speed into the nominal term and the perturbed term, a two-stage control strategy is employed to cope with the nonlinearity and uncertainty of the robot-conveyor system