A LOAD ADAPTIVE CONTROL SYSTEM OF MANIPULATOR ROBOT’S DRIVE
The control dynamics for the electric drive of manipulation robot (MR) link is considered. Joint-drives in mobility degrees of MR experience the variable loads caused by changes of a spatial configuration of MR in the course of motion, mass and dimensions of the moved payloads, etc. Changes of load can happen over a wide range and cause the essential deterioration in dynamic properties (speed, damping, etc.) of the system of automatic control (SAC) of drive. With the aim to stabilize the desired dynamic properties the algorithm of drive control is proposed which is adaptive to changes of load. The unknown parameters of drive load, necessary to form the adaptive control algorithm, are identified in observing device (OD). The work algorithm of OD to identify the unknown parameters of drive load is proposed. For the proposed control and work of OD algorithms the structural scheme of drive control is construction. The simulation results on computer are proved that in considered SAC of drive the stabilization of desired dynamic properties are ensured.