Decoupled controller for three degrees of freedom articulated robotic manipulator
articulated manipulator, adaptive control, VS-MRAC, PD control, nonlinear system, left-inverse system.
This work proposes a control technique to an articulated robotic manipulator, classified in the literature as anthropomorphic (RRR), which is formed by three rotary joints, three degrees of freedom, and spatial movement. Articulated manipulators (RRR) have freedom of movement inside their workspace and are a type of manipulator widely used. The proposed control will use an inversion technique to decouples the dynamic of each joint of the RRR manipulator and apply to each decoupled joint two control strategies. The first strategy is the variable structure model adaptive control, and the second is a linear proportional derivative controller. In the end, simulation results are shown, and some analyses about them are done.