Passivity Based Adaptive Control of Robotic Manipulators Electrically Controlled

Abstract

This paper presents a general approach for designing position adaptive control of a robot manipulator electrically controlled using passivity technique. Since a direct passive control structure requires precise knowledge of the robot model, the main interest of this contribution is to provide a direct adaptation law in order to improve performances against both robot model parameters uncertainties and disturbances. Besides, the proposed configuration permits a very remarkable facility of implementation. Simulations results are presented to illustrate the main points of this paper.