НЕЛИНЕЙНОЕ УПРАВЛЕНИЕ РОБОТОМ-МАНИПУЛЯТОРОМ С ИСПОЛЬЗОВАНИЕМ МОДЕЛИ ПРОГНОЗИРОВАНИЯ

Abstract

Annotation. The article considers the problem of controlling a flat three-link manipulator with three degrees of freedom, in which it is required to guide the working tool of the robot-manipulator along a given trajectory (along a straight line in the plane), avoiding the collision of the links with a cylindrical obstacle, that is, so that the links do not enter into area of the cylinder section by the plane of the trajectory. The problem of modeling the control of a nonlinear plant is solved using the Schutz methods for the implementation of model-predictive control and kinematic control on the finite horizon, as well as using Nakamura's instantaneous inverse kinematics. The simulation results showed good results of applying the methods of model-predictive control of a planar three-link robot-manipulator in terms of speed and obstacle avoidance