Adaptive controller of robotic manipulators: a modular approach

In this paper, the concept of modular adaptive control of robotic manipulators is presented. In the modular scheme, adaptation modules are assigned to each link, allowing the adaptation of each link dynamic parameters independent of the other links. The modules can be joined in a global adaptation system that can be applied to any N-DOF manipulator. The modular identification scheme, used with a nonlinear compensator (similar to the computed torque method), results in an online modular adaptive controller for robotic manipulators. Simulation results of the proposed controllers for a 3-DOF manipulator are presented