Modeling and synthesizing quasi-time control laws for two degrees of freedom robotic arm

摘要

In the paper, the model and method of synthesizing quasi-time optimal control laws for Two Degree of Freedom (2-DOF) Robotic Arms are presented. 2-DOF Robotic Arms is a non-linear MIMO System with large nonlinear characteristics and uncertain parameters. In this design method, it is necessary to convert the MIMO system to the SISO system, in which each SISO system is guaranteed in Jordan form, followed by using the conversion system in the form of quasi-time optimal equation. By this method, the control law ensures a stable global Robotic Arm. In addition, the control law also ensures that the Robotic Arm System has a quick response of time, but also ensures a stable and robust system when changing parameters and impact noise. The simulation results on the 2-DOF Robotic Arm show the effectiveness of the proposed method.