On the Motion Control of a Five-Link Manipulator
Jumanazar KhusanovJizzakh Polytechnic Institute,Jizzakh,UzbekistanZilola YusupovaMirzo Ulugbek National University,Faculty of Mathematics,Tashkent,UzbekistanAzizbeck AkhmatovNavoi State Pedagogical Institute,Faculty of Physics and Mathematics,Navoi,Uzbekistan
2022en
ABI
Abstract
The motion control problem of a five-link robot manipulator with four cylindrical and one prismatic joints is considered. The base link of the manipulator is vertical. Such a manipulator can have steady motions in which its base link rotates at a constant angular velocity while the remaining links maintain relative constant positions. The stabilization problem of such a motion is considered by means of non-linear PD and PI controllers. A numerical analysis of the stabilization process is presented by use a non-linear PI controller.
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