Adaptive trajectory control of a two DOF closed-chain robot

Abstract

A closed-chain robot has several advantages over an open-chain robot. Moving parts can be lighter, which can lead to greater acceleration at the end-effector and higher efficiency. In reality, there is limited information on closed-chain robot system dynamics due to problems associated with unknown link masses and unknown joint frictions. Accurate trajectory control of a closed-chain mechanism is essential in practical use of the robot. This paper presents the development of an adaptive computed-torque control algorithm for trajectory tracking of a 2-DOF closed-chain robot. Simulation results show that the control algorithm accurately tracks a 2-DOF closed-chain robot trajectories.