Development and experimental research of adaptive control system for robotic complex

摘要

The paper deals with adaptive control system for robotic complex. This system depending on current values of continuously varying parameters of control objects can support the maximum possible speed of the working tools and accessory equipment without reducing a given dynamic accuracy. During performance of various technological operations there are situations when mass-inertial characteristics (parameters) of the objects and modes of their movements vary within wide limits. As a result, when the load on the actuators of manipulators is reduced it becomes possible to increase the speed of their work without worsening of dynamic precision of control. In this work the method of synthesis of adaptive control systems that provide continuous tuning of the frequency of the oscillating motion of the manipulator working tool depending on the amplitude of the next movement and moment of inertia of the control object is proposed. This tuning is provided using the amplitude-frequency characteristics of the actuator of the manipulator. Performed experimental studies have confirmed the high efficiency of the proposed methods.