# Research on the Dynamic Control Method of CFETR Multi-Purpose Overload Robot
## 5 Conclusions  
This paper establishes the kinematic and dynamic models based on the structural characteristics of CMOR using the improved DH parameter method and Lagrangian method, respectively, and analyzes the working process in the vacuum chamber. The influence of non-geometric factors such as long cantilevers (9 m), large loads (2.5 tons), and flexibility between joints and links makes CMOR dynamic control very difficult. To address the complex nonlinearity and rigid-flexible coupling uncertainty of the CMOR dynamics model, a CMOR adaptive robust sliding mode controller (ARSMC) is designed based on the Hamilton-Jacobi equation for dynamic control to improve the robustness of the control system. an error compensation method is proposed to compensate for the effects of non-geometric factors such as the flexibility between the CMOR joints and the links on the position accuracy. Based on the matrix differentiation method and gridded workspace principle, the CMOR coupling parameter errors are decoupled to realize the error compensation of the whole workspace and improve the motion control accuracy. Since CMOR is still under development, so the prototype test results of CMOR are not available at this time. Therefore, the CMOR rigid-flexible coupling simulation system is established by ADAMS-MATLAB/Simulink to analyze the dynamic control effect of ARSMC. The simulation results show that the maximum position error of the CMOR end-effector under the composite motion process is more than 0.3 m, and the end position error of single joint motion is also more than 0.1 m. Parameter identification and compensation can be performed by matrix differentiation method and gridded workspace principle, and the average position error after compensation is less than 0.025 m, and the absolute error value is reduced by 4 times. The large position errors at 0 s and 20 s are mainly caused by the large variation of error values in this region and the sparse gridded workspace. The position accuracy can be further improved by increasing the grid density.  
In the future, we will continue to develop CMOR control strategies and prototype manufacturing work. The effectiveness of the precise control strategy is further verified by designing the CMOR motion planning method for motion planning and dynamic control of specific tasks in the vacuum chamber.  
The following supporting information can be downloaded at: [[https://www.mdpi.com/article/10.3390/app131810487/s1](https://www.mdpi.com/article/10.3390/app131810487/s1)]([https://www.mdpi.com/article/10.3390/app131810487/s1](https://www.mdpi.com/article/10.3390/app131810487/s1)) and [[https://youtu.be/IQxOUKS_XPI](https://youtu.be/IQxOUKS_XPI)]([https://youtu.be/IQxOUKS_XPI](https://youtu.be/IQxOUKS_XPI)) (accessed on 17 September 2023).  
Conceptualization, C.Z. and G.Q.; Data curation, C.Z.; Formal analysis, L.L., R.Z. and W.W.; Funding acquisition, C.Z. and Y.C.; Investigation, H.P. and W.W.; Methodology, L.X. and W.W.; Project administration, G.L.; Resources, C.Z. and C.W.; Supervision, W.W.; Validation, C.Z.; Visualization, C.Z., F.W., P.Z., X.Q. and N.S.; Writing--original draft, C.Z. and G.Q. All authors have read and agreed to the published version of the manuscript.  
Figure 12: CMOR position error compensation results (**a**) \(Z\)-axis end position error of CMOR (**b**) End space position error of CMOR.  
**Funding:** This work is supported by the National Natural Science Foundation of China (Grant Nos. 12305251 and 11905147) and the Comprehensive Research Facility for Fusion Technology Program of China (Contract No. 2018-000052-73-01-001228).  
**Institutional Review Board Statement:** Not applicable.  
**Informed Consent Statement:** Not applicable.  
**Data Availability Statement:** The data and code used to support the findings of this study are available from the corresponding authors upon request ([EMAIL_ADDRESS]; [EMAIL_ADDRESS]).  
**Conflicts of Interest:** The authors declare no conflict of interest.