Adaptive trajectory control of a two DOF closed-chain robot

A closed-chain robot has several advantages over an open-chain robot. Moving parts can be lighter, which can lead to greater acceleration at the end-effector and higher efficiency. In reality, there is limited information on closed-chain robot system dynamics due to problems associated with unknown link masses and unknown joint frictions. Accurate trajectory control of a closed-chain mechanism is essential in practical use of the robot. This paper presents the development of an adaptive computed-torque control algorithm for trajectory tracking of a 2-DOF closed-chain robot. Simulation results show that the control algorithm accurately tracks a 2-DOF closed-chain robot trajectories.

[1]  Fathi H. Ghorbel.  Modeling and PD control of closed-chain mechanical systems , 1995, Proceedings of 1995 34th IEEE Conference on Decision and Control.

[2]  Jian-Shiang Chen,et al.  Experiments toward MRAC design for linkage system , 1996 .

[3]  Krit Kittiampon.  Kinematics, dynamics and control of a closed chain mechanism manipulator , 1987 .

[4]  F. Ghorbel,et al.  A validation study of PD control of a closed-chain mechanical system , 1997, Proceedings of the 36th IEEE Conference on Decision and Control.

[5]  Kamal Youcef-Toumi,et al.  High speed trajectory control of a direct-drive manipulator , 1987, 26th IEEE Conference on Decision and Control.