Adaptive Control Strategies For Robot Manipulators

Abstract

Model-based feedback control algorithms for robot manipulators require the on-line evaluation of robot dynamics and are particularly sensitive to modeling inaccuracies. This paper presents an adaptive technique for practical implementation of model-based robot control strategies and introduces a novel adaptive algorithm, which makes the design insensitive to modeling errors. The design incorporates an on-line identification technique to eliminate parameter errors and individual joint controllers to compensate for modeling inaccuracies. An illustrated example will be given to demonstrate the development of the proposed algorithm through a simple twodimensional manipulator.