Adaptive Control of a Three-linkmanipulator at End-effector Movement on Optimal Trajectories

In this paper we present a solution of the adaptive control problem of the manipulator of robot Mitsubishi RV-1A at the end-effector motion on the optimal (in terms of a set of criteria) trajectories. For the trajectories planning a minimal torque changes criteria and a minimal discomfort criteria, founded with a biomechanical point of view was used. Control system that uses a linearized manipulator model is designed on the basis of the method proposed by H. Seraji. The law change of error vector of the trajectory tracking and the vector of torques which realize the trajectory close to optimal were obtained. A program that allows to calculate the points coordinates of the optimal trajectory in the manipulator workspace and realizes this control system can be used at the control of various mechanical devices with articulated rigid links and, in particular, in the control of prosthetic limbs with a heterogeneous knee mechanism.