Sensorless Positioning Control of Two Link Robot Arms by Means of Parameter Identification.

In this study, we have extended the previous sensorless positioning control of single-link robot arm to a two-link robot ram system Sliding mode control is useful for multiple-link robot arm which contains the nonlinear characteristics at the drive system. And, in the sensorless control, a variation of coil resistance which is used as an uncertain parameter of the actuator. Such uncertain parameter has been estimated by using parameter identifier. Moreover, It has been verified that our proved control scheme is very useful for the sensorless control system with unknown parameters. we proved the usefulness by experiments.