Kinematics-based Tracking Control Method for Operational Robotic Arm Under Multi-Environmental Constraints

Abstract

The environmental hazards associated with coal mining operations are extremely high, making the use of robotic arms to replace manual labor crucial for improving both the safety and cost-effectiveness of the work process. To address the various environmental constraints, such as spatial limitations, obstacles, and internal and external disturbances, this study proposes a kinematic-based tracking and control method for mining robotic arm. The objective of this numerical study is to mitigate the impact of environmental constraints on the stability of robotic arms, ensuring that they can maintain high precision and stability in complex operating conditions. Simulation results showed that the proposed method enabled the robotic arm to achieve operational thrust peaks exceeding 13,968 N and screw torque peaks greater than 0.06 Nm. The system reached steady state in an average of 0.24 s, with an error reduction of 2.3 %. Compared to other methods, the disturbance tracker reduced the average error by 2 %, and the feedback controller decreased the prediction lag by 5 %. Overall, this method significantly enhances the accuracy and stability of robotic arms in coal mining operations, making it a promising approach for real-world applications.