To achieve high-accuracy manipulation in the presence of unknown dynamics and external disturbance, we propose an efficient and robust motion controller (named TvUDE) for robotic manipulators. The controller incorporates a disturbance estimation mechanism that utilizes reformulated robot dynamics and filtering operations to obtain uncertainty and disturbance without requiring measurement of acceleration. Furthermore, we design a time-varying control input gain to enhance the control system's robustness. Finally, we analyze the boundness of the control signal and the stability of the closed-loop system, and conduct a set of experiments on a six-DOF robotic manipulator. The experimental results verify the effectiveness of TvUDE in handling internal uncertainty and external static or transient disturbance.

翻译：针对未知动力学特性及外部扰动下的高精度操作需求，我们提出一种高效鲁棒的机器人操作臂运动控制器（TvUDE）。该控制器集成扰动估计机制，通过重构机器人动力学模型并融合滤波操作，在不依赖加速度测量的前提下实现不确定性及扰动的估计。此外，我们设计时变控制输入增益以增强控制系统的鲁棒性。最后，对控制信号的有界性及闭环系统的稳定性进行了理论分析，并在六自由度机器人操作臂上开展系列实验。实验结果验证了TvUDE在处理内部不确定性及外部静态/瞬态扰动方面的有效性。