The article considers the problem of dynamic control of a 3-connected manipulator designed for trajectory following in conditions of external dynamic disturbances. To ensure the stability of the system, an adaptive PID controller based on the methods of kinematics and dynamics of a multi-link system is proposed. The analytical conclusions of direct kinematics, the calculation of the Jacobian matrix, and the perturbation compensation algorithm are described in detail. The experimental part is presented in the form of MATLAB modeling, the results of which are illustrated by graphs of motion, error convergence, dependence of link angles and control moments, as well as comparative tables of system characteristics at various levels of disturbances.

Keywords: robotics, manipulator, adaptive PID controller, dynamic control, direct kinematics, Jacobian matrix, perturbation compensation