The Synthesis of Robust Control System for Manipulation Robot Based on Gramian Approach

The article deals with a method for synthesizing robust control system for manipulating robot based on transforming the object structure to increase controllability and then developing the centralized state controller. At the first stage of synthesis, a linearized model of the manipulation robot is formed and parameters are identified using the search method. At the second stage, the structure of the resulting model is transformed to increase controllability by correcting singular gramian numbers, which is physically implemented by introducing additional links to the object. At the third stage, a linear state controller is synthesized for corrected mechatronic object using the modal control method. The proposed approach allows us to develop a control system for a manipulating robot that meets the requirements of robustness when the object parameters vary within the specified limits.