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10
Issue
vol 61 / OCTOBER, 2018
Article

DOI 10.17586/0021-3454-2017-60-9-850-857

UDC 681.51

ADAPTIVE CONTROL OF PARALLEL KINEMATICS ROBOT MANIPULATOR

D. Dobriborsci
ITMO University, Saint Petersburg, 197101, Russian Federation; postgraduate


S. A. Kolyubin
ITMO University, Saint Petersburg, 197101, Russian Federation; Associate Professor


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Abstract. A parallel kinematics robot manipulator for dynamic manipulation tasks is developed and tested experimentally. Such systems are widely used in aviation and driving simulations, control automation, e. g. for quick sorting tasks. Advantages of robotic manipulators with parallel kinematics are their high speed and positioning accuracy when working in a limited workspace. Based on the described results, a Stewart robotic platform with two degrees of freedom equipped with a vision system was built. The system integration is implemented in MatLab/Simulink. A mathematical model of the system is presented. Two algorithms of output adaptive control are extended to the class of discrete systems are tested, comparative analysis of the algorithms is performed.
Keywords: adaptive control, robotics, manipulator, consecutive compensator, discrete systems, technical vision

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