Adaptive Synchronized Control of Robot Manipulators

摘要

A simple adaptive synchronized approach to controls for the setpoint position control of robot manipulators was proposed, by incorporating cross-coupling technology into an adaptive-control architecture. The proposed controller could stabilize the motion of each actuator, and meanwhile synchronize all actuators’ motions so that both position and synchronization errors converged to zero. It is proved that the proposed method can guarantee global asymptotical stability of the system. Simulations of a two-degrees-of -freedom robot show the validity of proposed controllers.