An adaptive controller for industrial manipulators

Presents the study and design of an adaptive control method for an industrial manipulator. This method first presents an autoregressive time series model for the motion of the joints of a manipulator. The model parameters are obtained by using the data of the measured input-output pairs. Then, the estimated parameters of the manipulator are used to determine the controller gains on-line so that the desired path expressed at discrete points is followed as closely as possible. A feature of the authors´ work is that it considers the inductance of armature circuit of the drive-motor, which is important for the stability of the control system. Finally, computer simulations are given to demonstrate to feasibility of the control scheme