Kalman filtering adaptive stabilization of robot manipulator under sea wave interference

摘要

This paper proposes an adaptive position stabilization of a robot manipulator situated on the top of a floating object. An adaptive controller based on model-based approach is designed to stabilize the robot target position, which is interfered by random sea wave. The rolling motion of the floating object caused by sea wave is modeled as nonlinear second-order differential equation. For online control achievement, the estimation of the rolling angle based on Kalman filtering is applied. In addition, inverse kinematics solution of a 6-axis articulated robot is utilized to provide the desired joint angles for the controller. The several viewpoints including control error, parameter convergence, and tip position error retrieved from 3D graphical simulator are provided to demonstrate the performance of the controlled system.