An adaptive control scheme for robot manipulators

Abstract

An adaptive control scheme is developed for a robot manipulator to track a desired trajectory as closely as possible in spite of a wide range of manipulator motions and parameter uncertainties of links and payload. The presented control scheme has two components: a nominal control and a variational control. The nominal control, generated from direct calculation of the manipulator dynamics along a desired trajectory, drives the manipulator to a neighbourhood of the trajectory. Then a new adaptive regulation scheme is devised based on the Lyapunov direct method, which generates the variational control that regulates the perturbation in the vicinity of the desired trajectory.