An Adaptive Control Scheme for Mechanical Manipulators—Compensation of Nonlinearity and Decoupling Control
1986 ◽
Vol 108
(2)
◽
pp. 127-135
◽
Keyword(s):
This paper presents a new adaptive control scheme for mechanical manipulators. Making use of the fundamental properties of the manipulator equations, an adaptive algorithm is developed for compensating a nonlinear term in the dynamic equations and for decoupling the dynamic interaction among the joints. A computer simulation study is conducted to evaluate the performance of a manipulator control system composed of the manipulator, adaptive nonlinear compensator/decoupling controller and state feedback controller with integral action. Simulation results show that the manipulator control system with adaptive controller is insensitive to variations of manipulator configurations and payload.
Keyword(s):
2019 ◽
2019 ◽
Vol 2019
◽
pp. 1-8
◽
2020 ◽
Vol 234
(14)
◽
pp. 2089-2099
2010 ◽
Vol 40-41
◽
pp. 46-51
1994 ◽
Vol 7
(10)
◽
pp. 411-421
Keyword(s):