Design of Model Reference Adaptive Control for a 4-DOF Serial Manipulator

Abstract

This paper discusses Model Reference Adaptive Control design for the 4-DOF Serial Manipulator, at first, a 4-DOF Serial Manipulator mechanical design is introduced in CATIA software, then the model CAD design in CATIA is imported into the Adams software. With the help of Plugins ADAMS/Control is made Control block diagram for MATLAB software. Afterward, the DC motor model is designed in MATLAB software. And by connecting the DC motor model with the Adams-sub block, the overall model of the system is obtained with the input voltage and output of the position and angular velocity. In the next step, the kinematic equations of the robot are obtained with using the Denavit – Hartenberg method. Finally, a Model Reference Adaptive Control will be designed. Stability of this Model Reference Adaptive Control is established using Lyapunov stability theory. The simulation results vouch for the performance of the offered method.