Journal
Scientific and technical journal of information technologies, mechanics and optics
UDK681.51
Issue:2 (90)
Download PDF0 Kbyte
ADAPTIVE CONTROL OF TWO-LINK ROBOT MANIPULATOR BASED ON THE METHOD OF CONSECUTIVE COMPENSATOR
Annotation
The paper deals with the issue of control for a two-link robot manipulator under disturbances and inaccurately known parameters of the system. A method for adaptive independent control of the two-link robot manipulator based on the method of consecutive compensator is proposed. Adaptability is provided by adaptive adjustment coefficients of the consecutive compensator, and its independence consists in independent control of each link of the manipulator separately from the others. Meanwhile, non-linear effect of other links is considered as a limited external disturbance in the control channel. Dynamic equation of the manipulator was received by the Euler-Lagrange method, taking into account the effect of dynamics of manipulator engines. Since the proposed method has the simplicity of engineering implementation as compared to other adaptive methods of controlling manipulators, its usage on real objects in industry seems to be attractive. During the method simulation it was assumed that disturbances have the form of shifted harmonic signal. A series of simulations for a two-link manipulator system was conducted with the proposed controller. Simulation results confirm the effectiveness of this method in terms of external and internal disturbances. Comparison of this method with the PD controller was made. During the simulations, it was demonstrated that the proposed approach provides lower output error value than manipulator control using PD controller.
Keywords
Постоянный URL
Articles in current issue
- FROM THE HISTORY OF LASER CREATION
- DYNAMIC ESTIMATION FOR PARAMETERS OF INTERFERENCE SIGNALS BY THE SECOND ORDER EXTENDED KALMAN FILTERING
- IMPLEMENTATIONS AND PRACTICAL APPLICATIONS OF HYPERBOLIC METAMATERIALS
- OPTICAL DEFLECTOR CREATION FOR LASER THERAPEUTIC DEVICES
- PROXIMITY DEGREE FOR SIMPLE AND MULTIPLE STRUCTURES OF THE EIGENVALUES: OVERSHOOT MINIMIZATION FOR FREE MOTION TRAJECTORIES OF APERIODIC SYSTEM
- TRUST MODEL FOR INFORMATION SECURITY OF MULTI-AGENT ROBOTIC SYSTEMS WITH A DECENTRALIZED MANAGEMENT
- INFORMATION SECURITY ASSESSMENT FOR MULTI-AGENT ROBOTIC SYSTEM UNDER THE INFORMATION IMPACT
- TRAJECTORY CONTROL OF A SOLID BODY RELATIVE TO THE MOVABLE OBJECT
- DEVELOPMENT OF TRAJECTORY CONTROL SYSTEM FOR THE OMNIDIRECTIONAL MOBILE ROBOT
- STABILITY OF LINEAR MULTIAGENT SCALAR SYSTEMS AND ITS DEPENDENCE ON CONNECTIVITY GRAPH
- INVESTIGATION OF MICRO AND NANOSTRUCTURE OF HYDROPHOBIC PLANTS SURFACE
- APPLICATION OF THE DIRECTED MUTATION TO CELLULAR AUTOMATA GENERATION PROCESS
- EXPRESS METHOD OF BARCODE GENERATION FROM FACIAL IMAGES
- THREE-MOMENT BASED APPROXIMATION OF PROBABILITY DISTRIBUTIONS IN QUEUEING SYSTEMS
- TECHNIQUE OF OPTIMAL AUDIT PLANNING FOR INFORMATION SECURITY MANAGEMENT SYSTEM
- METHODS FOR QUALITY ENHANCEMENT OF USER VOICE SIGNAL IN VOICE AUTHENTICATION SYSTEMS
- NETWORK SERVICES FOR DIAGNOSTIC OPTODIGITAL COMPLEX FOR TELEMEDICINE
- THERMAL SIMILARITY OF SPACE OBJECTS OF STANDARD CONFIGURATIONS
- THERMAL PROTECTION AND THERMAL STABILIZATION OF FIBER-OPTICAL GYROSCOPE INCLUDED IN STRAPDOWN INERTIAL NAVIGATION SYSTEM
- MONOBLOCK EMITTERS FOR MELTING OF SYNTHETIC FATTY ACIDS
- MULTI-AGENT APPROACH IN PREDICTION OF RELIABILITY PARAMETERS FOR ELECTRONIC MODULES
- SELECTION OF INFORMATION PROTECTION SYSTEM BY ENSURING THE COMPETITIVENESS OF ENTERPRISES
- THE ARCHITECTURE OF THE REMOTE CONTROL SYSTEM OF ROBOTICS OBJECTS
- THE SYSTEM OF TECHNICAL VISION IN THE ARCHITECTURE OF THE REMOTE CONTROL SYSTEM
- VIRTUAL COGNITIVE CENTERS AS INTELLIGENT SYSTEMS FOR MANAGEMENT INFORMATION SUPPORT OF REGIONAL SECURITY
- LASER SCANNING APPLICATION FOR DETECTION OF HUMAN POSTURE DISTORTION DURING MASS EXAMINATIONS
- CONCEPTUAL EXTENSION OF WEB SERVICES FUNCTIONAL DESCRIPTION
- TIMELINESS ASSESSMENT FOR IMPLEMENTATION OF THE CRITICAL REQUESTS IN TWO-LEVEL CLUSTERS