Self-tuning control of a robot manipulator arm

Abstract

The paper describes self-tuning control as applied to a purpose-built experimental five-axis manipulator arm. The dynamic equations of the three principle axes are linearized and used as a design basis for pole-assignment self-tuning adaptive controllers Two applications are presented. In the first application the manipulator arm is controlled using a SISO pole-assignment self-tuner, while in the second, a multivariable pole-assignment self-tuning controller is applied. A discussion of the practical issues affecting these two application is presented in the concluding section.