Adaptive Control of 4-DoF Robot manipulator

TL;DR

This paper develops an adaptive control strategy for a 4-DoF robot manipulator to handle uncertainties in its dynamical parameters, demonstrated through simulation tests.

Contribution

It introduces a novel adaptive control method specifically designed for 4-DoF manipulators with uncertain parameters.

Findings

Successful simulation of adaptive control on the robot model

Improved accuracy in trajectory tracking under parameter uncertainties

Demonstrated robustness of the control strategy

Abstract

In experimental robotics, researchers may face uncertainties in parameters of a robot manipulator that they are working with. This uncertainty may be caused by deviations in the manufacturing process of a manipulator, or changes applied to manipulator in the lab for sake of experiments. Another situation when dynamical and inertial parameters of a robot are uncertain arises, is the grasping of objects by a manipulator. In all these situations there is a need for adaptive control strategies that would identify changes in dynamical properties of manipulator and adjust for them. This article presents a work on designing of an adaptive control strategy for 4-DoF manipulator with uncertain dynamical properties, and outcomes of testing of this strategy applied to control of simulator of robot.