An internal model based adaptive controller design for robot manipulator

Abstract

This paper investigates a trajectory tracking problem of the robot manipulator affected by external disturbances and uncertain parameters in the task space. Firstly, an internal model is constructed to handle the external disturbances, so that the trajectory tracking problem of the robot manipulator can be converted into a robust stabilization problem. Then, an adaptive controller is proposed to solve the robust stabilization problem when the kinematic and dynamic parameters are unknown. Finally, a 2-DOF robot manipulator equipped with an unknown tool is used for simulation to demonstrate the effectiveness of the proposed method.