An Efficient Computational Algorithm of Adaptive Control for Closed-Loop Robots and Experiments
Yasuhito Oooka, Haruhisa Kawasaki and Nobuhito Takemura
Department of Mechanical Engineering, Gifu University, 1-1 Yanagido, Gifu 501-1193, Japan
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 DOF robot with a parallel-link mechanism using a 32-bit DSP. Experimental results of trajectory control are also shown.