Abstract

Abstract In this study, we propose the sensorless positioning control of a two-link robot arm. In order to realize a good sensorless control, we propose to use the parameter adaptive identifier to system with the uncertainties of the coil in the actuator. Also, we use sliding mode control theory to remove the terms of the nonlinear parameters generated by the links mechanism, the nonlinear friction in the gear trains in the joints and the parameter variations caused by handle loads. The proposed control strategy has a good robust performance against these uncertainties. As these results, we have verified the effectiveness of sensorless positioning control by simulations and experiments.

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