UBC Theses and Dissertations
Adaptive rapid tracking by a 3 DOF robot manipulator Qu, Jing
In this thesis, an adaptive rapid tracking control methodology, which allows a robot manipulator to track an arbitrarily pre-specified short yet maybe complex trajectory quickly and precisely, is simulated. The dynamic equations of motion of the robot manipulator, which has a parallelogram mechanism, are established using Euler-Lagrange method. Recursive least-squares identification is carried out to identify the dynamic parameters of the manipulator system. This is followed by computed torque to approximately linearize the non-linear system using the estimated parameters. Because the approximately linearized plant is time-varying and has imprecisely-known parameters, and for the purpose of rapid tracking, adaptive control with again the recursive least-squares identification is applied to identify the parameters of the approximately linearized plant and of the controller, based on which a supplemental tracking control signal is learned and rapid tracking is accomplished by injecting this signal to the input of the approximately linearized plant. The simulation results show that this tracking methodology allows very good tracking performance.
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