Adaptive control for a constrained robot without using a regressor

Abstract

With the aim of controlling the motion/force of constrained robots with neither involving complex design procedurs or extensive on-line computations, this paper presents a new adaptive control strategy. The main advantage of the strategy, is its simplicity, in design for the programming code and real-time implementation. It is shown that the control objective is achieved without exact knowledge of robot dynamics or on-line calculation of non-linear dynamic functions. The control algorithm is constructed with at most four control parameters to be adjusted adaptively, and that number is determined independently of the number of links of the robot. To illustrate the developed method, a simulation example is presented.