High performance algorithm to obtain Johansson adaptive control in robot manipulators

摘要

The dynamics equation of robot manipulators is nonlinear and coupled. An inverse dynamic control algorithm that requires a full knowledge of the dynamics of the system is one way to solve the control movement. Adaptive control is used to identify these unknown parameters. These algorithms are based on the linear relationship of inertial parameters in the dynamic equation. A formulation to generalize this relationship is applied to the Johansson adaptive algorithm. The objective of this paper is to present the optimizations to obtain the matrices of the Johansson adaptive algorithm using the Lagrange-Euler formulation and apply it to an on-line identification problem.