The Adaptive Model Reference PID and Split-Range Control of a MIMO Nonlinear Revolute-Joint Robot Arm

To research on the kinematic and dynamic features of the robot arm, it is primarily important to research on the mechatronic system. In this article, the author introduces the research on the system-level design and systematic control of a novel robot arm. At first, the dynamic analysis of the actuator based on the joint and link design is presented. Then the adaptive model reference PID AMRPID control method implemented on the joint motor is proposed. In addition, the Split-Range Control System based on the multiple-input-multiple-output MIMO framework with parallel harmonics vibration decoupling. What’s more, the Denavit-Hartenburg D-H coordinate system and transformation matrix of the robot arm are also given for the trajectory control of the end-effector. In the next, the electrical-system-level ESL design of the robot arm control system is illustrated. After that, the program and test are proceeded with the proposed robot arm on different actuators. Through the experiment, it has been demonstrated that the robot arm is able to achieve quantitative motion control, trajectory control and dynamic control. Compared to the conventional PID and AMRPI control method, distributed control system, single-input-single-output SISO system framework, the proposed control system has demonstrated its feasibility, advancement and stability in controlling the novel robot arm. Future research based on current research results and phenomenon has also been addressed.