On the adaptive control of robot manipulators
International Journal of Robotics Research
Adaptive control of robotic manipulators using multiple models and switching
International Journal of Robotics Research
Introduction to Robotics: Mechanics and Control
Introduction to Robotics: Mechanics and Control
Modelling and Control of Robot Manipulators
Modelling and Control of Robot Manipulators
Control of Robot Manipulators
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In this paper, different adaptive control algorithms will be experimentally tested on a two axis SCARA type direct drive robot arm, and the performance of these algorithms will be compared. Being a direct drive system, the nonlinear effects, arising from the dynamics of the manipulator under high velocities, are directly reflected in the control of the manipulator. This makes the manipulator a more efficient test bed for testing the efficiency of the proposed adaptive schemes. In the experiments, we used fast trajectories rather than slow ones to observe how the proposed controllers compensate the dynamic nonlinear effects of manipulator dynamics. We will test some known adaptive control algorithms given in the literature along with our proposed adaptive control scheme which makes use of multiple models.