An Efficient Computational Algorithm of Adaptive Control for Closed-Loop Robots and Its Experiments.

This paper presents an efficient computational algorithm of model-based adaptive control for closed-loop robots. The algorithm is an extension of the computational algorithm for serial-link robots, which was derived by Kawasaki and Bito. The proposed algorithm is implemented to a 6 D.O.F robot with parallel-link mechanism using a 32 bit DSP. Experimental results of trajectory control are also shown.