Non-linear robust adaptive control of a SCARA manipulator
Date
1989Publisher
Publ by IEEESource
Proceedings of the 1989 American Control ConferencePages
1469-1475Google Scholar check
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A nonlinear adaptive controller is presented for manipulator tracking control. The controller is shown to be robust with respect to jump parameter changes such as payload variations. A benchmark model of a two-degrees-of-freedom SCARA arm is used for the purpose of evaluating the controller's performance. Through a simulation study the results obtained using the adaptive controller are compared to those of a fixed-gain computed torque scheme. The results indicate that the adaptive controller improves the tracking performance under payload variations.
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