Adaptive control for moving the manipulator

摘要

When solving problems related to manipulator control, it is often necessary to perform complex calculations related to the description of the dynamics of nonlinear processes. In some cases, it is necessary to deal with a large number of variables, the range of changes of which is difficult to predict or describe in advance with the help of mathematical apparatus. The operation of the manipulator is influenced by various forces associated with the characteristics of the loads being moved, as well as various vibrations, temperature changes, humidity, atmospheric pressure, wind gusts and much more. Analytical calculation methods require knowledge of the mass of all movable structural elements, their moments of inertia, friction forces and centripetal forces. The wear of the manipulator guides, gaps in the kinematic pairs, the presence or absence of lubrication in the bearing assemblies also affects. Many manipulators have complex nonlinear dynamics, when the requirements for the accuracy of their control can be quite high, for example, in lifting equipment, rescue devices or medical robots.