Abstract
In this paper, we mainly solve the adaptive control problem of robot manipulators with uncertain kinematics, dynamics, and actuators parameters, which has been a long-standing, yet unsolved problem in the robotics field, because of the technical difficulties in handling highly coupled effect between control torque and the mentioned uncertainties. To overcome the difficulties, we propose a new Lyapunov-based adaptive control methodology, which effectively fuses the inverse Jacobian technique and the actuator adaptation law, with which the chattering in tracking errors caused by actuator parameter perturbation is well suppressed. It is demonstrated that the asymptotic convergence of all closed-loop signals is guaranteed. Moreover, the effectiveness of our control scheme is illustrated through simulation studies.
Highlights
Control of robot manipulators has attracted a great deal of attentions in the past few decades, due to its wide application in industrial manufacturing [1], military [2], medical [3], and other fields [4]
It is worth noting that the aforementioned control schemes are all based on joint space, which may be inconvenient in practical application compared with task-space control schemes
Inspired by the above observation, this paper investigates the adaptive tracking control problem of robot manipulators, in which both kinematics and dynamics are uncertain
Summary
Control of robot manipulators has attracted a great deal of attentions in the past few decades, due to its wide application in industrial manufacturing [1], military [2], medical [3], and other fields [4]. As pointed out in [23], the actuator parameters may change due to overheating of motor, which may degrade the control performance In this case, even the dynamic and kinematic parameters can be calibrated, and the overall tracking error of the system cannot be guaranteed to achieve good convergence effect. One of the most challenging difficulties in controller design is to search an effective adaptive approach to cope with the uncertainty of actuator model, whose parameters may change after long time running. To deal with this challenge, by designing new adaptation laws, an efficient inverse Jacobian adaptive control scheme is constructed.
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