Adaptive Robot Manipulators In Global Technology
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Model-based feedback control algorithms for robot manipulators require the on-line evaluation of robot dynamics and are particularly sensitive to modeling inaccuracies. This paper presents an adaptive technique for practical implementation of model-based robot control strategies and introduces a novel adaptive algorithm which makes the design insensitive to modeling errors. The design incorporates an on-line identification technique to eliminate parameter errors and individual joint controllers to compensate for modeling inaccuracies. An illustrated example is given to demonstrate the development of the proposed algorithm through a simple twodimensional manipulator. New applications for robot manipulators are continually being discovered with global impacts due to integration of computer controlled robots. American Society for Engineering Education, 2009.
