Control Algorithm for Robot Manipulator Under Conditions of Incomplete Information

The estimate of the efficiency of engineering systems involved in engineering process is determined by solving the problems of information management and processing for its transmission over the Internet via detached communication lines (for critical objects) or via secure communication lines (for high-security objects) in order to monitor their condition. In this regard, the development of information processing algorithms in real time for the detection and diagnosis of information failures, estimation algorithms of object state under disturbing effects, identification of object parameters and diagnostics in order to exclude or prevent emergencies, as well as to conduct an unscheduled survey and, if necessary, replace the details of the object, the working condition of which is not guaranteed for the nearest period of time, are of key importance in the digital industry. To process the information directly by the automated process control system module, the algorithms of identification and diagnostics for an industrial robot manipulator (RM), which grinds large-size products, are proposed in the paper. In the three-tier RM control system with electric drives, the control synthesis is carried out by the method of Lyapunov function. Based on the information received from the sensors, following on from the ideas of self-organization in the aircraft flight control theory developed by A. A. Krasovsky, an approximating model of RM is obtained, for which the algorithms of guaranteed estimation, identification and diagnostics are developed. The example of implementation of the algorithms is given.