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Design of an adaptive control law using trigonometric functions for robot manipulators

Published online by Cambridge University Press:  12 January 2005

Recep Burkan
Recep Burkan
Affiliation:
Erciyes University, Vocational College of Kayseri, 38039 Kayseri (Turkey) E-mail: burkanr@erciyes.edu.tr
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Abstract

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In this study, a new approach of adaptive control law for controlling robot manipulators using the Lyapunov based theory is derived, thus the stability of an uncertain system is guaranteed. The control law includes a PD feed forward part and a full dynamics feed forward compensation part with the unknown manipulator and payload parameters. The novelty of the obtained result is that an adaptive control algorithm is developed using trigonometric functions depending on manipulator kinematics, inertia parameters and tracking error, and both system parameters and adaptation gain matrix are updated in time.

Keywords

Adaptive controlRobot manipulatorsParameter estimationSystem stabilityParametric uncertainty
Type
Research Article
Information
Robotica , Volume 23 , Issue 1 , January 2005 , pp. 93 - 99
Copyright
2005 Cambridge University Press