Time-Delay Compensation in Robotic Arms: A Novel Control Framework

Abstract

Time delay is an important factor in control systems, particularly in robotic applications that involve feedback loops, remote control, and networked systems. In these situations, delays can have a substantial effect on the performance of the system, resulting in reduced accuracy of control, instability, or inadequate tracking of the trajectory. This work describes the application of MATLAB Simulink to design and simulate a Time Delay Control (TDC) system for the Universal Robots UR5 robot. The TDC system is designed to ensure consistent and uniform trajectory tracking. A unique control approach is implemented into a dynamic model of the UR5 robot to ensure efficient time delays and system stability under control. The control strategy considers the time delays that naturally arise in robotic systems and, by using Time Delay Estimation (TDE), it adapts control interventions in real-time to ensure precise and smooth control. The present study focuses on the design of the controller, specifically examining the construction of the model to accurately represent the physical characteristics of the UR5 robot and the control's ability to mitigate delays. The integration of real-time feedback and predictive techniques enables the TDC system to adjust to variations in delay, so guaranteeing dependable performance across diverse operational situations. Validation of the proposed system's effectiveness is achieved by simulation results that demonstrate its resilience under various delay conditions. These findings indicate that the TDC system retains stability and accuracy, even under substantial time delays. The system's resilience is readily apparent in its capacity to consistently attain precise trajectory tracking, demonstrating its potential for practical integration in real-world robotic applications where delays are inevitable.