Inštitut za robotiko (Slovene)

In addition to distinctive nonlinearity and time variability of structures, the input/output dynamic behavior in the automated control of mechanical motion is characterized also by structural uncertainties. The key parameters of the control plant change during the operation depend on external (temperature, load, friction) and internal (load) influences. In the control of robot mechanisms, the dynamic model is split into a known and unknown part (non-modeled dynamics). The aim of the project is to derive adaptive neural and robust control algorithms and their implementation in special micro-controllers and/or DSP multiprocessor networks. The developed and experimentally tested robust control algorithms will be of variable structures to control AC servo motors with asynchronous and synchronous permanent magnet motors. Theoretically derived control results will be verified by the experiments of nonlinear loads, i.e. experiments will be carried out on the multi-axis manipulators driven by direct drive servo motors. Position/force control algorithms for manipulators in space coordinates will be studied. The members of the research program of 'Institute of robotics' develop a special and a new knowledge in the nonlinear motion control. Their research results were presented at the many conferences and in some international journals. In 1999 they organized the IEEE Int. Symp. on Industrial Electronics (ISIE'99), in 2000 the 9th Work. on Robotics in Alpe-Adria-Danube Region (RAAD 2000) and in 2002 they will organize the IEEE 7th Int. Work. on Advanced Motion Control (AMC'02).