Abstract
A new adaptive control architecture for the intelligent control of robotic manipulators is developed. The design is capable of utilizing external sensory information for the robot control. To achieve this, first a model reference adaptive control (MRAC) is developed which can be applied to a robot arm in the task space. Then the concept of virtual adaptive model is defined, which is used to formulate a maneuvering strategy in response to the external information. Finally, the virtual model provides the modified reference signals to the MRAC system to control the corresponding modified motion of the robot in the environment. The design does not require any knowledge about the dynamic parameters of the robot or that of the environment.
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