A straightforward control strategy is presented which is applied to an N-link manipulator holding an unknown load and driving its end-effector along a prespecified trajectory. The control is constituted into two primary components. The nonadaptive component is derived from the inverse problem technique while the adaptive component is computed by the application of sensitivity analysis to the complete, centralized dynamic model of the manipulator. The result is a robust adaptive controller which tunes its parameters at specified time instants and can withstand all expected variations of the payload. The control synthesis is illustrated by simulations in a two-link planar manipulator holding an unknown load.
|Original language||English (US)|
|Title of host publication||Unknown Host Publication Title|
|Number of pages||7|
|State||Published - 1987|
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