Experimental results of an adaptive controller for robot manipulators

This paper presents the implementation and experimentation of a transputer-based adaptive control system on an industrial robot PUMA 560. An experimental study of the real-time performance of an adaptive model-based controller is demonstrated, which is based on the Lyapunov stability theory. The effect of the unknown load dynamics is considered. A transputer network consisting of ten transputers is employed to realize the control system, where the parallelization of the algorithms is utilized for speeding up the computation. Some practical implementation issues of such controller are considered in the context of a multiprocessor environment