Self-Adaptive PD Control of Robot Manipulator

In the first place mathematic model of manipulator is established according to the dynamic theories. Then self-adaptive PD controller is designed in lined with its disturbance´s supremum which is not ascertain. The self-adaptive PD controller could make the systems´ PD feedback control take main effects, which could avoid too large initial torque while the initial errors is large at first, while the disturbances errors decrease the self-adaptive controller take predominance acts to make the systems have good dynamic performances.