Predictive function control of a two-link robot manipulator

Abstract

Operational problems with robot manipulators in space relate to several factors, most importantly, structural flexibility and subsequent difficulties with their position control. In this paper we present PFC (predictive function control) method for endpoint tracking of a trajectory by a two-link robot manipulator. Initially, a manipulator with rigid links is modeled using the state-space form, a linear PFC regulator scheme actuated by internal model computed and an inverse transpose. Finally, Results show greater endpoint position control accuracy using an internal dynamics robot model combined with a PFC adapted control law.