Adaptive Steady-State Gain Adjustment Technology for Serial Industrial Robots
Because of its model independence,simplicity and robustness,time-delay control has been widely used in industrial robot control.However,too high gain will lead to unstable or oscillating system response.To solve this problem,an adaptive gain adjustment algorithm for time delay control of serial manipulator is proposed.Firstly,through the analysis of the time-delay con-trol principle of robot arm,the defects of constant gain are shown.Then,an adaptive gain adjustment algorithm is designed for time-delay control by using sliding variables and boundary conditions,which can automatically adjust the gain to a stable value that satisfies the stability conditions of time-delay control without a large number of adjustment parameters.Simulation and ex-perimental results verify the effectiveness of the proposed adaptive gain adjustment algorithm.The results show that compared with the traditional time-delay control(large gain),the proposed algorithm reduces the root mean square error and the maximum er-ror of manipulator tracking by 31.2%and61.4%,respectively,and can still provide stable gain even when the initial value is un-stable,and the control performance is significantly improved.
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