Adaptive Dynamical Control of Robots - Nonlinear Approach

Abstract

In the following paper we discuss several concepts of dynamical position control for rigid manipulator am. Some of them e.g. feedforward compensation or computed torque method are quite familiar to the members of robotics society. Some other, growing quickly in number during last few years, are resulting from the constant development of the modern control theory. They are ranging from different mutations of MRAS control concepts to purely differential-geometrical problem fomulations. Our aim is to point out most important facts about robot arm dynamics in order to show a common basis for the majority of methods recently proposed. Many interesting control concepts once considered to be unfeasible are gaining back their relevance due to the impresive growth of the computational throughput of modern microprocessors. One of these concepts which relies on permanent up-dating of exact inverse model of the arm dynamics will be disscussed in the paper.