Application of Compensation Algorithms to Control the Movement of a Robot Manipulator

Abstract

This article presents an application-oriented method for the structural synthesis of control systems for multichannel linear objects. It provides a general form, based on the compensation for object dynamics and disturbances. The algorithm is based onalgebraic transformations of the mathematical model of the object and reference systems. The general procedure for the synthesis of a control algorithm is presented by the example of a SISO first-order object. Parametric robustness and correspondence of the system behavior to its own reference filters were derived. The possibility of applying this method to control non-linear objects presented in the form of "State Dependent Coefficient (SDC)" is ascertained. A simplified example is given by the synthesis of the motion control of a onelink manipulator with a drive, described by a second-order nonlinear equation. Control of a two-link manipulator represented by its linearized equation is demonstrated. The convenience of the proposed synthesis method for controlling multi-channel objects under certain simplifications allowed by the specifics of the use of objects is shown. The numerical example shows the independence of the system through individual channels, a zero static error in all the modes of operation and the correspondence of the system behavior to given dynamics.