Multi-processor Design of Non-linear Robust Motion Control for Rigid Robots

Abstract

The research activities carried out in the framework of the proposed paper have been directed to the development of nonlinear control techniques, algorithms and architectures for the free motion of robots having rigid links, that provide the following global control performances: global asymptotic stability, precision for time varying trajectory tracking, robustness at external disturbances, nonlinear coupling between motion axes and uncertainties of the dynamic model of the manipulator with drives structure, for closed-loop robot systems with n ≥ 5 degrees of freedom. Thus, there is proposed a solution for nonlinear motion control based on adaptive control techniques. The control method that is proposed provides high dynamic performances for the ensemble manipulator – drive systems – internal transducers – controller – user interface, that is: high displacement speed and tracking precision on desired time varying trajectories, rejection of disturbances of the type: variable masses carried by the arm, modeling errors, measuring noise. In the framework of this paper, the authors designed and simulated a library of procedures, algorithms and software control modules to be further implemented in a generic parallel multiprocessing architecture, as a robot controller. In this respect, the structural design was directed towards VME – based bus oriented multimaster structures.