A new adaptive controller for robot manipulators considering actuator dynamics

摘要

Traditional controllers for robot manipulators give poor performance in high speed operations due to neglected actuator dynamics. This paper proposes a new adaptive controller for robot manipulators in high speed trajectory following considering of actuator dynamics. The new structure not only estimate dynamics of the links and motors of robot manipulators, but also keep the calculation requirement to a minimum to facilitate its real-time implementation. The design is based on the regressor-free approach supported by the function approximation technique under rigorous mathematic justification. A 2-DOF rigid robot manipulator is used in the computer simulation to verify the efficacy of the proposed design.