A sturdy on centralized adaptive control of robot manipulator

로봇 매니플레이터의 집중 적응 제어에 관한 연구

This paper presents a centralized adaptive control scheme based on perturbation equations in the vicinity of a desired trajectory,which are used to design a feedback control about the desired trajectory. This adaptive control scheme reduces the manipulator control problem from a nonlinear control to controlling a linear control system about a desried trajectory. Computer simulation studies of a two-joint manipulator are performed on a IBM-PC to illustrate the performance of this adaptive control scheme.