Adaptive Control of a Manipulator with Closed Kinematic Chains and Linear Actuator

A method of adaptive control of a specialized manipulator designed to work as part of a robotic complex for servicing vertical surfaces is proposed and studied. The robotic complex consists of a wheeled platform, a wheeled vertical movement robot with a vacuum contact device and a manipulator. The article describes the operation of the manipulator at the stage of bringing the robot to work. The suggested controller contains a computed torque controller to eliminate the nonlinearity in the model, in addition to linear quadratic regulator to achieve an optimal tracking error. Finally, the adaptive mechanism is added to the controller to process the uncertainties in the model due to the loading and unloading operations.