Adaptive Tracking Control of A Series Manipulator based on Minimum Inertial Parameters

Abstract

In this paper, addressing the uncertainties of the inertial parameters of dynamic manipulator model of series manipulators, an adaptive tracking control algorithm is designed based on the characteristics of the model's minimum inertial parameters, and the tracking control design of joint angular displacement and angular velocity of the manipulator arm is investigated. Firstly, the filter variables are used transform the model, and the system model is expressed as a linear function of the minimum inertial parameters. Secondly, the control law and the online updating law of the parameters are designed for the open-loop system, and the stability of the designed control system is derived by using the Lyapunov method. Finally, the effectiveness of the proposed method used is verified by simulation.