Implementation of a Real-Time Adaptive Controller for Robotic Manipulator Using DSP's

Abstract

Real-time implementation of an adaptive controller for the robotic manipulator is presented in this paper. Digital signal processors are used in implementing real time adaptive control algorithms to provide an enhanced motion for robotic manipulators. In the proposed scheme, adaptation laws are derived from the improved Lyapunov second stability analysis based on the model reference adaptive control theory. The adaptive controller consists of an adaptive feedforward controller and feedback controller and time-varying auxiliary control elements to the nominal operating point. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by simulation and experimental results for a SCARA robot.