Kinematics Analysis and Time Delayed Control of a Five-Degree of Freedom Manipulator

摘要

An approach to analyze kinematics of a five-degree of freedom(5-DOF)robotic manipulator is proposed.The effect of the time delay in control on the stability of the motor control system is considered.The time delayed differential equations are converted into differential equations without delay by using the lowpass filter-based continuous-time approximation(LPCTA).The optimal control method is adopted to design the controller. Experimental results show that the proposed kinematics algorithm is accurate with less computational cost,and is suitable for real-time control application of 5-DOF manipulator.The time delayed control system of 5-DOF manipulator can accurately track the desired trajectory.