Adaptive tuning in an extended parameter space in a robot control based on the Hamiltonian mechanics

A novel and promising approach to simultaneously tackling the problem of incomplete and approximate robot model and the dynamic interaction with an unmodeled environment in an adaptive control on the basis of the Hamiltonian mechanics was recently proposed. Up to now only the effect of certain special parameters were investigated via simulation in the case of a special 3 DOF robot arm. In this paper the effect of other important parameters are taken into account in the tuning process for a vertical 3 DOF SCARA robot which has never been considered in this context. Advantages and weak points of the presently proposed solution are concluded as well as further development possibilities are outlined.