Adaptive Control for a Robot ARM and a Robot Drive System with Elasticity

Abstract First, this paper presents an application of a Model Reference Adaptive Control System (MRACS) to the position control, and the force feedback control of a flexible robot arm. Second, this paper investigates the application of an MRACS to the speed control, and the position control of a DC servo system, and a Direct-Drive(DD) servo system with a flexible transmission element. The flexible robot arm is simply modelled as a flexible cantilever beam. The servo systems with a flexible transmission element are treated as a servo mechanism with a one degree of freedom oscillatory load Using discrete-time mathematical models as a lumped parameter system, the discrete MRACS is designed for each discrete model Experimental results have shown that the control performance is good and the MRACS is effective.