Adaptive high-speed resonant robot

The use of the natural modes of oscillation for efficient performing of complex space motions of a robot with changeable parameters and dynamically interacting degrees of freedom is discussed. For the realisation of high-speed motions in these conditions under the limitation of control torques, it is necessary to identify at first, through on-line analysis of motions in the process of manipulation, the real parameters of natural modes. Then the control torques should be brought into correlation with natural motions by the adaptation of control in accordance with the findings of identification. As a result, the processes of identification, adaptation and control have to be optimised in accordance with the dynamics of robot oscillation. The formulated concept is demonstrated by research and development of an adaptive high-speed manipulator MARS-3 realised by the above mentioned principles for operating in cylindrical co-ordinates. Copyright (C) 1996 Elsevier Science Ltd.