A Study of Adaptive Electromechanical Tracking Systems Intended for Controlling a Four-Link Manipulation Robot

This article considers adaptive electromechanical tracking systems intended for controlling multilink mechanical objects with actuating electric drives and synthesized taking and not taking into account electromagnetic behavior of electric drives. A bicascade mathematical model of a multilink mechanical object is developed taking account the electromagnetic behavior of actuating electric drives. Adaptive electromechanical tracking systems constructed using the Li–Slotine technique and a step-by-step procedure are synthesized. The construction of a special regressor matrix, taking into account the structure of actuating electric drives, is considered. The suggested technique of bicascade synthesis of adaptive electromechanical tracking systems, which was constructed taking into account the electromagnetic behavior of actuating electric drives, is illustrated by means of a detailed application of the developed synthesis techniques through the example of constructing adaptive electromechanical tracking systems for controlling a four-link manipulation robot made by Igus. The paper also provides the results of computer-aided modeling of the way in which the electromagnetic behavior of actuating electric drives influences the quality of transient processes and the program path reproduction accuracy treated as a singular perturbation or taken into account in synthesizing adaptive electromechanical tracking systems. The motion of the four-link manipulation robot is designed and modeled in the Mathcad and MATLAB/Simulink suites.