Model Free Adaptive Control Applied To Trajectory Tracking For 6-DOF Robot Manipulator Based On Rapid Control Prototype

Robot manipulators are widely used in manufacturing industries such as machinery,electronics and construction due to their advantages including stability,flexibility and high precision.As the requirements in the trajectory tracking performance and the function of trajectory planning for Six Degrees-of-Freedom(6-DOF)series industrial robot manipulators are raised,it is time consuming with low efficiency to design and develop control system for robot manipulators in traditional manner,and it is difficult to implement online parameter tuning and program debugging for the advanced control algorithms.Rapid Control Prototype(RCP)with high computational power of hardware platform and automatic code generation technology,can be applied to real-time verification of control algorithms and online parameter tuning by creating rapid prototype of controller efficiently such that the development efficiency of the control system can be improved.As an efficient data-driven control method,Model-free Adaptive Control(MFAC)only utilizes input and output data of the system but does not rely on the accurate model of the controlled plant.MFAC is suitable to apply to complex controlled plant such as 6-DOF series industrial manipulator.It has practical merit to apply MFAC to the trajectory tracking control of 6-DOF series industrial manipulator on the basis of RCP technique.In this paper,study on MFAC and its application to RCP based 6-DOF series industrial robot manipulator is carried out by using a semi-physical simulation platform called Links-RT.The main contents are as follows:(1)The link-rod coordinate system in Cartesian space for robot manipulators is established and the parameters are determined.The stability and real-time performance of the inverse kinematics algorithm are analyzed according to the kinematical principles for robot manipulators.The kinetic characteristics of robot manipulators are analyzed based on the Lagrange formula.(2)For trajectory tracking control problem of robot manipulator,an improved Partial Form Dynamic Linearization Model-Free Adaptive Control(PFDL-MFAC)algorithm is proposed by revising traditional PFDL-MFAC algorithm.The effectiveness of corresponding PFDL-MFAC algorithms are verified by simulations.(3)For Kawasaki RSlON 6-DOF series industrial robot manipulator,a RCP based robot manipulator is designed and implemented using Links-RT.PFDL-MFAC control algorithm and its improved version are developed by MATLAB/Simulink for trajectory tracking control of the RCP based robot manipulator.The functions of zero reset,kinematics module and offline trajectory planning are implemented.Experiments are carried out to verify the feasibility of the RCP based robot manipulator and effectiveness of the proposed PFDL-MFAC algorithms for trajectory tracking control of robot manipulator.