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

Burhanettin Durmuş; Hasan Temurtaş

Araştırma Makalesi

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

Kaynakça

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