Real-time implementation of a robust adaptive controller for a robotic manipulator based on digital signal processors

摘要

Presents an approach to the design and real-time implementation of an adaptive controller for a robotic manipulator based on digital signal processors. The Texas Instruments DSP (TMS320C31) chips are used in implementing real-time adaptive control algorithms to provide enhanced motion control performance for robotic manipulators. In the proposed scheme, adaptation laws are derived from the direct model reference adaptive control principle based on the improved Lyapunov second method. The proposed adaptive controller consists of an adaptive feedforward and feedback controller and PI-type time-varying auxiliary control elements. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling nor values of manipulator parameters and payload. Performance of the proposed adaptive controller is illustrated by simulation and experimental results for an industrial robot with four joints in the joint space and Cartesian space.