New Controller Designs for Robot Manipulator Systems

摘要

Several different controllers for robot manipulator systems based on the general adaptive control theory using Lyapunov direct method are designed. Simplicities and/or complexities of these designs are described by simulation to indicate the relative importance and advantage of each design with respect to the others. A way of improving the transient response and convergence speed of a multivariable system in conjunction with this controller is established.