Experimental Results of an Adaptive Controller for Robot Manipulators

摘要

This article presents the implementation and experimentation of a transputer-based adaptive control system on an industrial robot PUMA 560. The adaptive control problem has been extensively studied in simulations, but experimental results will highlight the performance potential and is more interesting for the practice. An experimental study of the real-time performance of an adaptive model-based controller will be demonstrated here, which is based on the Lyapunov stability theory. Especially, the effect of the unknown load dynamics is considered. A transputer network consisting of 10 transputers is employed to realize the control system, where the parallelization of the algorithms is utilized for speeding up the computation. Some practical implementation issues of such controller are considered in context of a multiprocessor environment.