Properties and data structures for efficient adaptive cotnrol algorithms in robot manipulators

摘要

The dynamics equation of robot manipulators is non linear and coupled. One way to solve the control movement is to use an inverse dynamic control algorithm that requries a full knowledge of the dynamics of the system. This knowledge is unusual in industrial robuts, so adaptive control is used to identify these unknown parameters. In general their linear regressor is based on the linear relationship between the unknown inertial parameters and their coefficients. It is difficult to obtain a general algorithm for this relationship when more than two links are considered. In this paper a formulation to generalize this relationship is presented. This formulation is appleid to Slotine & Li adaptive algorithm. The results have been obtained by simulation for a robot PUma with six links. Copyright ~direct 2000 IFAC