This paper presents a new strategy for robust tracking in robot manipulators. The aim of the strategy is to reject parametric uncertainties due to model or load disturbances. The basic controller acting on the manipulator is a robust controller designed by Lyapunov’s direct method. Acting on this controller there is an adaptive system responsible for the adaptation of the basic parameter of the robust feedforward term. The performance of the strategy is tested in a Puma-560 manipulator. A comparison with existing techniques is done to verify the efficiency of the presented controller.
|Title of host publication||Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics|
|Place of Publication||Setúbal|
|Publication status||Published - 2006|