Adaptive Control of 2-link Pay-loaded Manipulator

摘要

An adaptive controller has been designed for a 2-link pay-loaded manipulator. A simple structure of adaptive control are investigated in this paper and finally a closed loop adaptive control system has been provided. Maximum payload of 2-link manipulator was estimated using the designed adaptive controller through an expressed algorithm. Performance of controller and the algorithm has been investigated using several simulations. In order to validate the results, some comparison with similar works has been arranged.