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

Yıl 2010, Sayı: 022, 22 - 32, 15.08.2010

Burhanettin Durmuş Hasan Temurtaş

Öz

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.

Anahtar Kelimeler

Robotic control, trajectory planning, predictive contol

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

Öz

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.       

Anahtar Kelimeler

Robot kontrolü, yörünge planlaması, öngörülü kontrol

Kaynakça

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