An Efficient Computational Algorithm for Adaptive Manipulator Control

Abstract This paper presents a new computational algorithm of adaptive manipulator control, adopting the basic method proposed by Slotine and Li (1986). The algorithm is based on the recursive Newton-Euler formulation and the minimum dynamic parameters derived by Kawasaki and Kanzaki (1991). The number of operations required in this algorithm is about one half of that presented by Niemeyer and Slotine (1988). We also present experimental results on the adaptive control of a robot manipulator with six degrees of freedom. Its control system has a 32 bit DSP for the computation of the adaptive control.

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