Simulation of motion of a three-link robot with a gearless drive using robust regulators

Many modern technological problems can be described by interval systems of differential equations. To solve these systems, robust stabilization algorithms are required. In this paper, an approach for developing a regulator on the basis of the algorithm for stabilizing interval quadratic systems by the method of forms is presented. This problem of dynamic control of manipulators is relevant in the design of robots with conventional drives in the case of large masses and/or velocity, as well as robots with more advanced gearless drives taking into account interactions of axes. The mathematical transformation of robot dynamics equations to an interval form is given and the mathematical model of a regulator using vector tactical level feedbacks is described in detail. The efficiency of stabilization is proved by the computer simulation of motion of a three-link robot with a regulator. The results showed a significant reduction in dynamic error. A robust regulator can be used as part of a general robot control system.

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