Construction of the Principle of Adaptive Position-Trajectory Control of Moving Objects (On the Example of a Multi-Link Industrial Robot Manipulator)

This article presents the principle of adaptive position-trajectory control for moving objects, illustrated using a multi-link industrial robot manipulator. The principle is described through several stages derived from its main control objectives. A SCARA robot with adaptive position-trajectory control is chosen as the study object, and mathematical models are provided to compute its kinematic structure and dynamic characteristics. These models make it possible to determine the manipulator’s position in coordinates, the trajectory and position of the end-effector, and to analyze real-time trajectory generation. Based on the proposed principle, boundary conditions for the robot’s dynamic properties are formulated, enabling the development of control models, algorithms, and robust-adaptive position-trajectory control structures. The approach follows a classical PD controller framework using filtered and approximated tracking errors. Computer visualization of the robust-adaptive control structures is used to examine dynamic behavior. The proposed structures ensure high-accuracy and high-speed motion along specified trajectory positions.