ADAPTIVE CONTROL SYSTEMS OF A RIGID 4-DOF ROBOT MANIPULATOR WITH DIRECT CURRENT DRIVES
Adaptive control systems for a rigid 4-DOF (degree of freedom) robotic manipulator with direct currrent drives have been developed and investigated. Under the conditions of the parametric uncertainties of the object, depending on the degree of the developed mathematical model and the possibility of measuring the angular velocity of rotation of the manipulator link, three approaches to adapting the system were considered, based on the use of a regressor matrix, on the direct method of function approximation technique and on the modified method of function approximation technique. Computer investigations of designed models in the Matlab-Simulink environment were carried out. Results are shown in conditions of parametric uncertainty three times more or less from the mean values. It is shown and compared the quality of work of the adaptive system when applying to the input of a unit step signal, a sinusoidal signal and the signal to reproduce the given circular motion. The main advantages and disadvantages of the three selected approaches were noted. The calculations of the regressor matrix and the Lagrange equations describing the dynamics of the 4-DOF manipulator were performed using standard mathematical Mathcad program.
Authors: Nguyen Duc Phu, V. V. Putov, Сhu Trong Su
Direction: Electrical Engineering
Keywords: Adaptive control system, rigid 4-DOF robotic manipulator, direct current drive, regressor matrix, function approximation technique
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