An adaptive control scheme for robot manipulators
- 1 October 1986
- journal article
- research article
- Published by Taylor & Francis in International Journal of Control
- Vol. 44 (4) , 1185-1191
- https://doi.org/10.1080/00207178608933659
Abstract
An adaptive control scheme is developed for a robot manipulator to track a desired trajectory as closely as possible in spite of a wide range of manipulator motions and parameter uncertainties of links and payload. The presented control scheme has two components: a nominal control and a variational control. The nominal control, generated from direct calculation of the manipulator dynamics along a desired trajectory, drives the manipulator to a neighbourhood of the trajectory. Then a new adaptive regulation scheme is devised based on the Lyapunov direct method, which generates the variational control that regulates the perturbation in the vicinity of the desired trajectory.Keywords
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