Multi-input multi-output adaptive torque control of 9-DOF hyper-redundant robotic arm

Abstract

In this paper, multi-input multi-output (MIMO) direct adaptive torque controller is presented that uses a conventional fuzzy system to provide asymptotic end-effector tracking of a reference path for a 9-DOF hyper-redundant manipulator. It is illustrated via simulations that the MIMO adaptive controller, which drives the torque of each joint to control end-effector dynamic variables, can highly improve the robotic performance considering both its kinematics and dynamics while executing motion control or tracking a reference in work space. Also, it increases the robustness with respect to disturbances, sensor noise and poorly understood dynamics. The efficacy of our control algorithm affects the accuracy, stability and robustness of both motion control and path tracking.