Non-linear robust adaptive control of a SCARA manipulator

Abstract

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.