Adaptive control of robot manipulators driven by brushless DC motors with uncertainties in dynamic model

Öz

In this study, an adaptive controller design is carried out for robot manipulators whose joints are driven using brushless direct current (BLDC) motors and which have parametric uncertainties in the dynamic model, by considering the actuator dynamics. Thanks to the realization of controller design directly in the task space, the proposed controller structure does not need inverse kinematics calculations at the position level. Despite the parametric uncertainties in the robot dynamic model, the global asymptotic stability of the developed controller structure with full state feedback, which does not need acceleration measurements, is guaranteed by using Lyapunov type synthesis and stability analysis method. To demonstrate the performance and feasibility of the proposed method, a simulation study was carried out using a two degree of freedom, planar robot manipulator model, whose joints are driven using BLDC motors.

Anahtar Kelimeler

• Adaptive control
• Robotic manipulators
• Task space
• Nonlinear control
• BLDC motors

Fırçasız DA motorları ile sürülen ve dinamik model belirsizlikleri içeren robot kollarının uyarlamalı denetimi

Öz

Bu çalışmada, eklemleri fırçasız doğru akım (DA) motorları kullanılarak sürülen ve dinamik modelinde parametrik belirsizlikler olan robot kolları için eyleyici dinamikleri de ele alınarak uyarlamalı görev uzayı takip denetleyicisi tasarımı gerçekleştirilmiştir. Denetleyici tasarımının doğrudan görev uzayında gerçekleştirilmesi sayesinde önerilen denetleyici yapısı pozisyon seviyesinde ters kinematik hesaplamalarına ihtiyaç duymamaktadır. Geliştirilen tam durum geri beslemeli ve ivme ölçümlerine ihtiyaç duymayan denetleyici yapısının robot dinamik modelindeki parametrik belirsizliklere rağmen küresel asimptotik kararlılığı Lyapunov tarzı sentez ve kararlılık analizi yöntemi kullanılarak garanti edilmiştir. Önerilen yöntemin performansını ve uygulanabilirliğini göstermek amacıyla düzlemde çalışan, iki serbestlik dereceli, eklemleri fırçasız DA motorları kullanılarak sürülen robot kolu modeli kullanılarak benzetim çalışması gerçekleştirilmiştir.

Anahtar Kelimeler

• Uyarlamalı denetim
• Robot kolları
• Görev uzayı
• Doğrusal olmayan kontrol
• Fırçasız DA motorları

Kaynakça

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