BASED JOINT TRAJECTORY CONTROL OF 6-DOF ROBOT MANIPULATOR BY USING GENERALIZED PREDICTIVE CONTROL

Abstract

In this study, generalized predictive controller (GPC) was designed for based joint trajectorycontrol of 6-DOF(Degree-Of-Freedom) robotic manipulator. Modeling of the dynamics of the robotic manipulator was made by using the Lagrange-Euler equations and the cubic trajectory principle was used for trajectory planning. Designed controller computes values of torque belonging to joints through motion. CARIMA(Controlled Auto-Regresive Integrated Moving Average) model was used for prediciton model. The parameter estimation was carried out using the RLS(Recursive Least Squares.

Keywords

• Robotic control,trajectory planning,predictive contol

ÖNGÖRÜLÜ KONTROL İLE ALTI EKLEMLİ BİR ROBOT KOLUNUN EKLEM ESASLI YÖRÜNGE KONTROLÜ

Abstract

Bu çalışmada altı eklemli bir robot kolunun eklem esaslı yörünge kontrolü için genelleştirilmiş öngörülü kontrolör (GPC) tasarlanmıştır. Robot kolunun dinamik modellemesinde Lagrange-Euler yöntemi kullanılmış, yörünge planlaması sinüzoidal yörünge prensibine göre yapılmıştır. Tasarlanan kontrolör, istenilen yörünge boyunca robot kolu eklemlerini kontrol edecek uygun tork değerlerini üretmektedir. Öngörü modeli için CARIMA (Controlled Auto Regressive Integrated Moving Average) doğrusal formu kullanılmış, parametre kestirim işlemi ise en küçük kareler yöntemi (Recursive Least Squares-RLS) ile gerçeklenmiştir.       

Keywords

• Robot kontrolü,yörünge planlaması,öngörülü kontrol

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