Abstract
This paper deals with an implementation of a discrete time adaptive controller for two axes of an industrial manipulator. The friction terms are shown to be detrimental to the parameter adaptation algorithm and to the stability of overall system unless they are properly included in the model. In this paper, the effect of friction is minimized by a cancellation technique based on off-line estimation of friction terms. The primary purpose of the adaptive controller is to compensate for inertia variations due to payload changes and other disturbances.
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