Adaptive inverse dynamics control for triple rotary joint mainipulator

This paper addresses the stability and performance of adaptive control in robotic manipulators, which represents an important and unique class of nonlinear, time-varying, multi-input multi-output dynamic systems. An adaptive control was developed to attenuate the effect of the unknown parameter. This paper, after summarizing the mechanical design and dynamic equation, shows that the dynamic parameters of the manipulator, assumed to be initially unknown, can be estimated by using the adaptive mechanism design. Simulation results are presented to show the performance of the inverse dynamic controller and adaptive control.