Synthesis of adaptive robot control systems for simplified forms of driving torques

Abstract

Control systems for robots, having high dynamical accuracy for cases when the torque actions in the robot joints (dynamical loads) are expressed by relatively simple expressions, physically explainable, were elaborated. Synthesis of robot control was performed in two phases. In the first one synthesis of adaptive control ensuring the stabilization of the variable load parameters of the servoactuators was performed, while in the second one typical linear regulators ensuring high working properties for the servoactuators with already stabilized parameters were synthesized by means of traditional methods. Various complexities of dynamical loads (drive actions) were considered in examples of robots with both electrical and hydraulic servoactuators. The synthesis of adaptive control systems of electrical robots was considered for the case of fast parameter variations of the dynamical loads (couplings) of relatively more complex type. Results are based on the results from a previous paper [Filaretov V. F. and Vukobratović M. K., Mechatronics 3, 767–782 (1993)]. Based on the corresponding choice of the robot kinematical scheme or by using mechanical dynamic decoupling of the servoactuators, relatively simple adaptive systems, ensuring high dynamical accuracy at fast manipulator working regimes, were synthesized.