DEVELOPMENT OF A DYNAMIC CONTROLLER FOR ROBOT ARMS BASED ON THE SYMBOLIC POLYNOMIAL TECHNIQUE

DEVELOPMENT OF DYNAMIC CONTROLLERS FOR REAL TIME CONTROL OF ROBOT ARMS HAS BEEN DIFFICULT BECAUSE OF THE LARGE AMOUNT OF COMPUTATIONS REQUIRED FOR THE IMPLEMENTATION OF SUCH ALGORITHMS. A COMBINATION OF THE NUMERICAL AND SYMBOLIC MANIPULATIONS IS USED BY THE SYMBOLIC POLYNOMIAL TECHNIQUE TO SIMPLIFY THE DYNAMIC EQUATIONS FOR ROBOT ARMS IN AN OFF-LINE STAGE. COMPUTATIONAL SAVINGS ARE ACHIEVED BY AVOIDING REPETITION OF MATHEMATICAL OPERATIONS ON THE CONSTANT PARAMETERS OF A ROBOT ARM WITH OFF-LINE PROCESSING OF THE DYNAMIC MODEL OF THE ROBOT ARM. THE RESULTING POLYNOMIALS FOR ROBOT ARM DYNAMICS CAN BE EVALUATED INDEPENDENTLY DURING REAL TIME CONTROL BY SIMULTANEOUS COMPUTATIONS IN A PARALLEL CONFIGURATION. DETAILED ANALYSIS AND DESIGN OF A POSITION AND VELOCITY FEEDBACK CONTROL ALGORITHM USING THE DYNAMIC MATRICES GENERATED BY SYMBOLIC POLYNOMIAL EVALUATIONS, WILL BE PERFORMED IN THIS PROJECT. THE CONSTRUCTION OF SUCH DYNAMIC CONTROLLER WILL BE PURSUED IN THE LATER PHASES OF THIS PROJECT. THE PERFORMANCE OF THIS CONTROLLER WOULD BE AN APPRECIALBE IMPROVEMENT OVER THE CURRENTLY USED CONTROLLERS AS IT WOULD ACCOUNT FOR DYNAMIC INTERACTIONS AMONG DIFFERENT JOINTS OF THE ROBOT ARM.