Industrial Manipulator Control Using Kalman Filter and Adaptive Controller

Abstract The use of Kaiman fitter in conjunction with adaptive controller is proposed to control the positions and velocities of the joints in a manipulator. The dynamics of a joint of a robotic manipulator are modelled by using a set of difference equations. The parameters of the model for the motion of a joint are estimated on-line by using a Kaiman filter. An adaptive controller is designed for each joint so as to make the position and velocities of the joint follow a prespecified path in the joint coordinate system. The algorithms for the parameter estimation and computation of the controller gains are presented. Digital simulation results demonstrate the applicability of the approach to control the motion of a manipulator.

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