Abstract
This paper presents an application of a discrete time adaptive control system to the positioning control of manipulators with low reduction joints. First, an adaptive pole assignment system is constructed to use a simplified discrete time model of manipulators which is a nonminimum phase system. Next, the adaptive control system with a zero phase error tracking (ZPET) feedforward compensator is designed to improve the tracking performance. The comparison of the performance of both methods has been made experimentally for a one-link manipulator. Furthermore, a set of experiments has been carried out for a two-degree-of-freedom planar manipulator with a parallelogram mechanism to show the advantages of adaptive control.
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