Decentralized adaptive control applied to two links of a five degrees of freedom robot, using the polynomial technique
Controle adaptativo descentralizado aplicado a dois elos de um robô de cinco graus de liberdade, usando a técnica polynomial
Keywords:robotics, systems identification, adaptive control
The objective of this work is to design and implement decentralized adaptive controllers in order to perform the position control of two links of an electromechanical manipulator robot with five degrees of freedom (DOF 5). The manipulator robot is consisted of five rotational joints, four links and a claw. Five DC motors are used to drive the robot and the motion transmission from the motors to the joints is achieved by gear trains. Models of the manipulators robots are obtained using Newton-Euler or Lagrange equations; and are coupled and nonlinear. In this work, the model of the links of the manipulator robot is obtained in real time for each sampling period. The parameters of the links to be controlled are identified by recursive least squares (RLS) method, according to data from the links, and are used in the designs of adaptive controllers for the positions control of the joints of the links under analysis. In the end, the experimental results are presented, like the evaluation of the performance achieved by the manipulator robot links.