Hybrid nonlinear self tuning discrete manipulator control

A hybrid manipulator controller is designed and tested using a multiprocessor architecture and a PUMA 550 robot arm. The feedback control consists of a computed dynamics-based control whose parameters are further tuned in real time. The manipulator system is considered as being composed of a nominal model whose parameters are partially known. A self-tuning adaptive feedback control signal is derived from the observed output error. The controller performance is very encouraging and compares very favorably with the performance of other experimentally tested controllers