DISCRETE-TIME ADAPTIVE-CONTROL FOR MECHANICAL MANIPULATORS HAVING A JOINT COMPLIANCE

This paper presents the application of a discrete-time adaptive control scheme to mechanical manipulators having a joint compliance. A control model of such manipulators is derived by linearizing the nonlinear equations about a desired trajectory. This control model is described by multivariable difference equations. The parameters of the model are estimated by parameter adaptation algorithms. Control gains, determined from the control model by using the pole placement technique, are computed on-line with the estimates of the system parameters. Simulation results with a two-link mechanical manipulator are presented to show the effectiveness of the proposed approach.