Manipulation Robots' Trajectory Motion Adaptive Control

This paper describes the construction, research and comparative analysis of adaptive control systems of elastic oscillations suppression of electric drive transmissions of joints and the unleashing of the interrelated dynamics of the degrees-of-freedom of manipulation arms robots under conditions of nonlinearity and uncertainty of their mathematical description with the aim of improving the accuracy and speed of spatial trajectory movement of the robot flange. The strategy of solving the two mentioned interrelated problems is based on the decomposition of the nonlinear mathematical model of the manipulation arm onto the rigid and elastic subsystems, which allows to introduce unification of the construction of combined (composite) adaptive electromechanical systems, using the accurate method of the calculated moment (Li-Slotine) and the approximate method of majorizing functions. (C) 2019 The Authors. Published by Elsevier B.V. This is an open access article under the CC BY-NC-ND license (https://creativecommons.org/licenses/by-nc-nd/4.0/) Peer-review under responsibility of the scientific committee of the 13th International Symposium "Intelligent Systems" (INTELS'18).