Adaptive control of an industrial robot retrofitted with an open-architecture controller

摘要

A PUMA 560 industrial robot has been retrofitted with an open-architecture controller. An adaptive control scheme that incorporates actuator dynamics has been implemented on this robot testbed. The overall low level control scheme is based on thecomplete robot-actuator dynamics, and consists of a modified regressor-based adaptive algorithm and a feedforward compensation scheme for actuator dynamics. It is shown by a Lyapunov-like analysis that, under this control scheme, the tracking error of ageneral robot is bounded. Experiments carried out show that the performance of the robot, with the adaptive control scheme, is significantly improved when properly compensated for actuator dynamics.