Adaptive control system and manipulator trajectory planning for operating in a dynamic environment

Galemov R. T., Masalsky G. B.

Currently, industrial robots manipulators perform operations involving cyclic actions. However, with the 4th industrial revolution, requiring the expansion of robots' areas of use, new requirements to robot control systems have appeared, bringing the capabilities of manipulators, in the tasks of interaction with objects, closer to the capabilities of humans. This paper presents an adaptive control system for robot manipulator, which includes a tracking system for a moving object and a system for adapting the parameters of controllers after capturing the object. Both systems use similar direct search algorithms to adapt the parameters while the manipulator is moving. Experiments were conducted on motion planning along a predetermined trajectory and tracking an object moving along the same trajectory.

Keywords:robotic manipulator, adaptive control, trajectory planning, tracking, optimization