Adaptive force and position control of rigid-link flexible-joint SCARA robots

In this paper a new form of direct adaptive force and position control of rigid-link flexible-joints 4 DOF SCARA robots has been presented. The control law of the adaptive scheme for position control consists of a PD regulator and adaptive model-based feedforward compensation of full dynamics, together with a simple linear correction term from motor velocity based on the estimated parameters to compensate the elastic oscillations at the joints. The algorithm is computationally simple, the adaptive controllers do not require knowledge of the parameter values of the robot or the environment. Results of the computer simulation applied to this robot show the validity of the proposed method