Robot Manipulator Control Using Predictive Model under Conditions of Incomplete Information

Abstract

The paper discusses one of the promising areas of digitalization of production - the introduction of industrial robots and robotic systems. A solution to the problem of controlling the movement of a processing Robot Manipulator (RM) along a programmed trajectory is proposed. To control the RM, a digital double is used, which allows, on the basis of the dynamic model and the measurement information received from each link of the RM with some accuracy, to generate a control signal to the electric drive of a real RM operating under conditions of disturbances and incompleteness of information. The determination of the parameters of the digital twin model is carried out in real time using identification methods. The specified positioning accuracy is achieved through the use of an algorithm using a predictive model that allows, on the basis of the forecast, requirements for positioning accuracy and the shape of the control signal, to adaptively adjust the regulator parameters. To conFigure the parameters, a criterion is used that ensures accurate positioning of the links of the RM with a minimum number of oscillations of the control signal. This approach allows to reduce the load on the electric motors and the control unit when the RM moves along the program trajectory.