Real time dynamic scaling of a robotic manipulator in the presence of uncertainties

摘要

With the increased demand on manipulator performance in the manufacturing industry new ways have to be devised to make the manipulator able to operate in an uncertain environment. In this study we consider a robotic manipulator with uncertainties present in its dynamics and which evolves its motion by using a dynamic scaling technique. The technique generates the maximum possible velocity at which the robot can move while satisfying its actuator constraints. The uncertainties are compensated by an adaptive robust control algorithm which also ensures a desirable system performance.