Adaptive Control of Robot System of up to a Half Passive Joints

摘要

In this paper, we study adaptive control of a robot system of 2n joints with up to n joints being passive. By exploiting the dynamics couplings between the active joints and the passive joints, we have developed a method to use desired trajectories of active joints to indirectly “control” the motion of the passive joints. Optimal control techniques have been employed to control the active joints with smooth motion of minimized acceleration. Neural network (NN) has been used for block function approximation, in order to generate ideal desired trajectory of active joints. It has been theoretically established that under the developed adaptive controller and NN based trajectory generator, the passive joints can be effectively controlled to follow the predefined trajectory.