Adaptive Control of Robot Manipulators with Velocity Estimation and Bounded Torque

The robot manipulator output feedback problem points out to the controlled system in which the measurements of the joint position are available. In this study, all kinematic and dynamic parameters of robot manipulator are supposed unknown and the manipulator have to follow the desired trajectory. Th...

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Bibliographic Details
Published inAl-Nahrain journal for engineering sciences Vol. 20; no. 4
Main Author Wajdi Sadik Aboud
Format Journal Article
LanguageEnglish
Published Al-Nahrain Journal for Engineering Sciences 01.08.2017
Subjects
Adaptive control
bounded torque
kinematic parameters
robot manipulators
velocity estimation
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Summary:The robot manipulator output feedback problem points out to the controlled system in which the measurements of the joint position are available. In this study, all kinematic and dynamic parameters of robot manipulator are supposed unknown and the manipulator have to follow the desired trajectory. Therefore, the adaptive control problem for robot manipulators based on velocity estimation is investigated. According to the practical robot actuator power limitation, the bounded torque input is also considered in this study. The control algorithm is applied for 2-link manipulator to evaluate controller effectiveness. The design parameters that guaranteed the control performance of closed loop system are chosen by using optimization output constrained method. The proposed controller performances are provided by numerical simulations.
ISSN:2521-9154
2521-9162