Design and Implementation of an Adaptive Control for a Robot
This research investigates the performance of an adaptive controller for five-bar linkage robot. The proposed controller was entirely independent on the physical specifications of the robot. The controller was examined as the dynamics of the mechanical system varies for various environment conditions, which make it an ambiguous system. In this study, the introduced controller was designed based on the governing ideal Euler-Lagrange equations on the robot but assessed using the on-line dynamic simulation of the mechanism for different target configurations which guarantees the high performance and effectiveness of the designed controller.
Copyright: © 2007 Iraj Hassanzadeh, Abbas Harifi and Farid Arvani. This is an open access article distributed under the terms of the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.
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- Adaptive control
- five-bar linkage
- self tuning controller